{ "scope": "18 same-input MI fits and offline real metric cost/support diagnosis", "source_commit": "4a1cf7b8d08dc1d689461634878265db5c47dd9e", "plan_sha256": "22459f1a1dc0da0774b95c9a778734c37e261c4b6c0b1d219738e2c5d23f8274", "cases": [ { "case_id": "2011_09_26_0005-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.1570524478595304, -0.12546671853346003, -0.2193869124058732 ], "rotation_quat_xyzw": [ -0.4970392806734143, 0.5065017108732196, -0.502029631017498, -0.4943422093353867 ] }, "transform_camera_lidar": { "translation_m": [ 0.2570524478595304, 0.17453328146654, -0.2818869124058732 ], "rotation_quat_xyzw": [ -0.49482838238543536, 0.5083935159866328, -0.5000050663769139, -0.4966647143556513 ] }, "best_delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "best_delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.295157555778233, "normalized_mutual_information": 0.5272099592688169, "visible_point_count": 1657, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.224580197744983, "normalized_mutual_information": 0.5159548573465329, "visible_point_count": 530, "projected_count_before_visibility": 726 }, { "frame_id": "frame-76", "mutual_information": 1.2517688862765777, "normalized_mutual_information": 0.5189391070340345, "visible_point_count": 593, "projected_count_before_visibility": 721 }, { "frame_id": "frame-114", "mutual_information": 1.4091235833131384, "normalized_mutual_information": 0.5467359134258832, "visible_point_count": 534, "projected_count_before_visibility": 680 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5571390832792265, "normalized_mutual_information": 0.6316389549601192, "visible_point_count": 1471, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.4476375456162525, "normalized_mutual_information": 0.6096886796477106, "visible_point_count": 460, "projected_count_before_visibility": 642 }, { "frame_id": "frame-76", "mutual_information": 1.499670132135309, "normalized_mutual_information": 0.6185840102803812, "visible_point_count": 531, "projected_count_before_visibility": 638 }, { "frame_id": "frame-114", "mutual_information": 1.7241095720861175, "normalized_mutual_information": 0.6666441749522658, "visible_point_count": 480, "projected_count_before_visibility": 595 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.295157555778233, "mutual_information": 1.295157555778233, "normalized_mutual_information": 0.5272099592688169, "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": 1.3194327998772248, "mutual_information": 1.3194327998772248, "normalized_mutual_information": 0.5394335216572421, "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": 1.2614397773803963, "mutual_information": 1.2614397773803963, "normalized_mutual_information": 0.5111811398687247, "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": 1.270896146451494, "mutual_information": 1.270896146451494, "normalized_mutual_information": 0.5201159536567751, "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": 1.3029722345212722, "mutual_information": 1.3029722345212722, "normalized_mutual_information": 0.5285976414981611, "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": 1.3045825591150002, "mutual_information": 1.3045825591150002, "normalized_mutual_information": 0.5308446496905811, "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": 1.2810023755972613, "mutual_information": 1.2810023755972613, "normalized_mutual_information": 0.52191232451908, "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": 1.2748480131482027, "mutual_information": 1.2748480131482027, "normalized_mutual_information": 0.5203572346700803, "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": 1.3277081409960163, "mutual_information": 1.3277081409960163, "normalized_mutual_information": 0.5378811301008265, "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": 1.2504097053877812, "mutual_information": 1.2504097053877812, "normalized_mutual_information": 0.505620340114696, "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": 1.3427977700922062, "mutual_information": 1.3427977700922062, "normalized_mutual_information": 0.5502004973919927, "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": 1.3115116966819973, "mutual_information": 1.3115116966819973, "normalized_mutual_information": 0.534253612745821, "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": 1.2942124194939357, "mutual_information": 1.2942124194939357, "normalized_mutual_information": 0.5286196346697877, "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": 1.3746996255711081, "mutual_information": 1.3746996255711081, "normalized_mutual_information": 0.5670116526225883, "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": 1.347223527997696, "mutual_information": 1.347223527997696, "normalized_mutual_information": 0.5473157132958306, "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": 1.3130101601775512, "mutual_information": 1.3130101601775512, "normalized_mutual_information": 0.5386444783435526, "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": 1.3712332057030014, "mutual_information": 1.3712332057030014, "normalized_mutual_information": 0.5607162722775011, "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": 1.348973450099163, "mutual_information": 1.348973450099163, "normalized_mutual_information": 0.5522367606716871, "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": 1.3300692771435656, "mutual_information": 1.3300692771435656, "normalized_mutual_information": 0.544171904517793, "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": 1.3196470377722969, "mutual_information": 1.3196470377722969, "normalized_mutual_information": 0.5384701228025868, "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": 1.3724714051259495, "mutual_information": 1.3724714051259495, "normalized_mutual_information": 0.5601213356625588, "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": 1.295157555778233, "mutual_information": 1.295157555778233, "normalized_mutual_information": 0.5272099592688169, "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": 1.3897126994838722, "mutual_information": 1.3897126994838722, "normalized_mutual_information": 0.5721278815613561, "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": 1.3612489898292395, "mutual_information": 1.3612489898292395, "normalized_mutual_information": 0.5602024772451903, "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": 1.3188079439610607, "mutual_information": 1.3188079439610607, "normalized_mutual_information": 0.5403789517475771, "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": 1.4185779028178491, "mutual_information": 1.4185779028178491, "normalized_mutual_information": 0.5857009880947455, "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": 1.3671638574203964, "mutual_information": 1.3671638574203964, "normalized_mutual_information": 0.5616248061085024, "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": 1.3897543546705784, "mutual_information": 1.3897543546705784, "normalized_mutual_information": 0.5723270859390408, "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": 1.426162713823307, "mutual_information": 1.426162713823307, "normalized_mutual_information": 0.5848554179098624, "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": 1.4020036353824545, "mutual_information": 1.4020036353824545, "normalized_mutual_information": 0.5762112844947257, "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": 1.358879208017732, "mutual_information": 1.358879208017732, "normalized_mutual_information": 0.5605890129051581, "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": 1.3764619083361318, "mutual_information": 1.3764619083361318, "normalized_mutual_information": 0.5647426407471324, "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": 1.4383762576560766, "mutual_information": 1.4383762576560766, "normalized_mutual_information": 0.5874464575614208, "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": 1.3427977700922062, "mutual_information": 1.3427977700922062, "normalized_mutual_information": 0.5502004973919927, "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": 1.4432580721062964, "mutual_information": 1.4432580721062964, "normalized_mutual_information": 0.5926093938788344, "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": 1.4252773423150042, "mutual_information": 1.4252773423150042, "normalized_mutual_information": 0.5868845652899065, "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": 1.3955193500828853, "mutual_information": 1.3955193500828853, "normalized_mutual_information": 0.5737912808501795, "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": 1.4595209559970799, "mutual_information": 1.4595209559970799, "normalized_mutual_information": 0.6007428526770006, "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": 1.4016910786309011, "mutual_information": 1.4016910786309011, "normalized_mutual_information": 0.5754505596024633, "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": 1.403527335158418, "mutual_information": 1.403527335158418, "normalized_mutual_information": 0.5763803372534404, "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": 1.4762103352198432, "mutual_information": 1.4762103352198432, "normalized_mutual_information": 0.6073912577615452, "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": 1.4548071834628011, "mutual_information": 1.4548071834628011, "normalized_mutual_information": 0.5956327716428108, "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": 1.4287578057979786, "mutual_information": 1.4287578057979786, "normalized_mutual_information": 0.5878716281058888, "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": 1.411265134556853, "mutual_information": 1.411265134556853, "normalized_mutual_information": 0.5790471738484748, "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": 1.500037200176407, "mutual_information": 1.500037200176407, "normalized_mutual_information": 0.6146540500158096, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.3897126994838722, "mutual_information": 1.3897126994838722, "normalized_mutual_information": 0.5721278815613561, "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": 1.439034469025407, "mutual_information": 1.439034469025407, "normalized_mutual_information": 0.5910991079749993, "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": 1.4641897098411436, "mutual_information": 1.4641897098411436, "normalized_mutual_information": 0.6007914095671171, "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": 1.4232267135646277, "mutual_information": 1.4232267135646277, "normalized_mutual_information": 0.5840014638659442, "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": 1.5077227270600346, "mutual_information": 1.5077227270600346, "normalized_mutual_information": 0.6189640899928014, "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": 1.4600629526524447, "mutual_information": 1.4600629526524447, "normalized_mutual_information": 0.5956086457936528, "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": 1.4518048324223596, "mutual_information": 1.4518048324223596, "normalized_mutual_information": 0.5980724430959646, "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": 1.475259013101797, "mutual_information": 1.475259013101797, "normalized_mutual_information": 0.6064805799228802, "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": 1.5172574642242396, "mutual_information": 1.5172574642242396, "normalized_mutual_information": 0.62049443397691, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.485792144773774, "mutual_information": 1.485792144773774, "normalized_mutual_information": 0.6083269874397992, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4432580721062964, "mutual_information": 1.4432580721062964, "normalized_mutual_information": 0.5926093938788344, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.4781622529643317, "mutual_information": 1.4781622529643317, "normalized_mutual_information": 0.6082556469681974, "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": 1.4383762576560766, "mutual_information": 1.4383762576560766, "normalized_mutual_information": 0.5874464575614208, "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": 1.48349847651012, "mutual_information": 1.48349847651012, "normalized_mutual_information": 0.605616193483611, "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": 1.4961935245214981, "mutual_information": 1.4961935245214981, "normalized_mutual_information": 0.6112533852701917, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.484296595582597, "mutual_information": 1.484296595582597, "normalized_mutual_information": 0.6101914434887469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5004097037333615, "mutual_information": 1.5004097037333615, "normalized_mutual_information": 0.618752600353632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.482513203200158, "mutual_information": 1.482513203200158, "normalized_mutual_information": 0.6047762018954345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.4717116600991973, "mutual_information": 1.4717116600991973, "normalized_mutual_information": 0.6046774289820306, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5004618508607468, "mutual_information": 1.5004618508607468, "normalized_mutual_information": 0.615233776235344, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5262485239608992, "mutual_information": 1.5262485239608992, "normalized_mutual_information": 0.6236718211795171, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.500037200176407, "mutual_information": 1.500037200176407, "normalized_mutual_information": 0.6146540500158096, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4548071834628011, "mutual_information": 1.4548071834628011, "normalized_mutual_information": 0.5956327716428108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5177603493597889, "mutual_information": 1.5177603493597889, "normalized_mutual_information": 0.62134039816381, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.4660597460720435, "mutual_information": 1.4660597460720435, "normalized_mutual_information": 0.5981662846273491, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.5062858859294284, "mutual_information": 1.5062858859294284, "normalized_mutual_information": 0.6164298611675206, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5061713741820941, "mutual_information": 1.5061713741820941, "normalized_mutual_information": 0.6126312802508148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.4885184081387675, "mutual_information": 1.4885184081387675, "normalized_mutual_information": 0.6111447228337119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.4958187558187646, "mutual_information": 1.4958187558187646, "normalized_mutual_information": 0.6142962398819888, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.4818177246421895, "mutual_information": 1.4818177246421895, "normalized_mutual_information": 0.6042844271980947, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.4666630376300507, "mutual_information": 1.4666630376300507, "normalized_mutual_information": 0.6023636664718794, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5076541821320883, "mutual_information": 1.5076541821320883, "normalized_mutual_information": 0.6180671499661182, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5249957067085813, "mutual_information": 1.5249957067085813, "normalized_mutual_information": 0.6240363753434376, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5172574642242396, "mutual_information": 1.5172574642242396, "normalized_mutual_information": 0.62049443397691, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4554853940678791, "mutual_information": 1.4554853940678791, "normalized_mutual_information": 0.5955670392144844, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5029671603475958, "mutual_information": 1.5029671603475958, "normalized_mutual_information": 0.6155008186061789, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.4711176660814527, "mutual_information": 1.4711176660814527, "normalized_mutual_information": 0.6013141152255296, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.5024315035140194, "mutual_information": 1.5024315035140194, "normalized_mutual_information": 0.6151321549372958, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5335104680045457, "mutual_information": 1.5335104680045457, "normalized_mutual_information": 0.6222536259776786, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.5010753048703271, "mutual_information": 1.5010753048703271, "normalized_mutual_information": 0.6155843843713824, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.491488624229931, "mutual_information": 1.491488624229931, "normalized_mutual_information": 0.6110758020186963, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.4890881155156734, "mutual_information": 1.4890881155156734, "normalized_mutual_information": 0.6088207774249043, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.4721299823673697, "mutual_information": 1.4721299823673697, "normalized_mutual_information": 0.6014774569137648, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5029526371321114, "mutual_information": 1.5029526371321114, "normalized_mutual_information": 0.6154689084356257, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5279962797853035, "mutual_information": 1.5279962797853035, "normalized_mutual_information": 0.621286994481947, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5061713741820941, "mutual_information": 1.5061713741820941, "normalized_mutual_information": 0.6126312802508148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.4693084892555053, "mutual_information": 1.4693084892555053, "normalized_mutual_information": 0.5999803006165206, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.1 ], "objective": 1.5033470268064981, "mutual_information": 1.5033470268064981, "normalized_mutual_information": 0.6142337148011311, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, -0.1 ], "objective": 1.4883017182256966, "mutual_information": 1.4883017182256966, "normalized_mutual_information": 0.6073723685559224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.4, -0.1 ], "objective": 1.5003186372289579, "mutual_information": 1.5003186372289579, "normalized_mutual_information": 0.6127103570486869, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.2 ], "objective": 1.4904806513530253, "mutual_information": 1.4904806513530253, "normalized_mutual_information": 0.6060222478442853, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5262485239608992, "mutual_information": 1.5262485239608992, "normalized_mutual_information": 0.6236718211795171, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5050752952885158, "mutual_information": 1.5050752952885158, "normalized_mutual_information": 0.6149790791406183, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5037800149471225, "mutual_information": 1.5037800149471225, "normalized_mutual_information": 0.613590042495412, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0, -0.125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.4928536840191065, "mutual_information": 1.4928536840191065, "normalized_mutual_information": 0.609136173496131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5149763331817947, "mutual_information": 1.5149763331817947, "normalized_mutual_information": 0.6193210840474382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.625 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5296474251243541, "mutual_information": 1.5296474251243541, "normalized_mutual_information": 0.622717038858197, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.513154480516017, "mutual_information": 1.513154480516017, "normalized_mutual_information": 0.6150152015412241, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.05, 0.30000000000000004, -0.1 ], "objective": 1.5130744623472527, "mutual_information": 1.5130744623472527, "normalized_mutual_information": 0.6155176650838866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.1 ], "objective": 1.5164024760731891, "mutual_information": 1.5164024760731891, "normalized_mutual_information": 0.6179982328049357, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, -0.1 ], "objective": 1.4803054410030871, "mutual_information": 1.4803054410030871, "normalized_mutual_information": 0.6047729709542409, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.35000000000000003, -0.1 ], "objective": 1.5037837025060747, "mutual_information": 1.5037837025060747, "normalized_mutual_information": 0.611350250268066, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.15000000000000002 ], "objective": 1.5072679811255572, "mutual_information": 1.5072679811255572, "normalized_mutual_information": 0.6118530975183929, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05 ], "objective": 1.5292231262025702, "mutual_information": 1.5292231262025702, "normalized_mutual_information": 0.621348580414712, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5218197519132177, "mutual_information": 1.5218197519132177, "normalized_mutual_information": 0.6198584946221705, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.507459423043769, "mutual_information": 1.507459423043769, "normalized_mutual_information": 0.613733964932918, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.0, -0.0625, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.516308637878718, "mutual_information": 1.516308637878718, "normalized_mutual_information": 0.617750166233229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.0, 0.0625, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5275406562815246, "mutual_information": 1.5275406562815246, "normalized_mutual_information": 0.6215601267748782, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5625 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5347402535637062, "mutual_information": 1.5347402535637062, "normalized_mutual_information": 0.6225379728146485, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.4375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.532343600493353, "mutual_information": 1.532343600493353, "normalized_mutual_information": 0.6218945159374499, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.30000000000000004, -0.1 ], "objective": 1.517751779226968, "mutual_information": 1.517751779226968, "normalized_mutual_information": 0.6171989491943641, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.125, 0.30000000000000004, -0.1 ], "objective": 1.530063207517231, "mutual_information": 1.530063207517231, "normalized_mutual_information": 0.6227666511081552, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.275, -0.1 ], "objective": 1.5046336620542256, "mutual_information": 1.5046336620542256, "normalized_mutual_information": 0.6133740916607106, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.32500000000000007, -0.1 ], "objective": 1.5183873020097274, "mutual_information": 1.5183873020097274, "normalized_mutual_information": 0.6179493148807286, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.125 ], "objective": 1.5160484518192199, "mutual_information": 1.5160484518192199, "normalized_mutual_information": 0.6155492246994076, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5421708588398506, "mutual_information": 1.5421708588398506, "normalized_mutual_information": 0.6252024096244626, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5378318969209668, "mutual_information": 1.5378318969209668, "normalized_mutual_information": 0.6256018701017821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.50694147844719, "mutual_information": 1.50694147844719, "normalized_mutual_information": 0.6140443262990506, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.0, -0.0625, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5175534761149556, "mutual_information": 1.5175534761149556, "normalized_mutual_information": 0.6174479699061765, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.0, 0.0625, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5269349938002357, "mutual_information": 1.5269349938002357, "normalized_mutual_information": 0.6209188765182644, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5625 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5391545544650878, "mutual_information": 1.5391545544650878, "normalized_mutual_information": 0.6245767406402655, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.4375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5341482984581563, "mutual_information": 1.5341482984581563, "normalized_mutual_information": 0.6226635113423984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5194891982435126, "mutual_information": 1.5194891982435126, "normalized_mutual_information": 0.6180186669307853, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.125, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5293451219817769, "mutual_information": 1.5293451219817769, "normalized_mutual_information": 0.6214114023435942, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.275, -0.07500000000000001 ], "objective": 1.5175982413920688, "mutual_information": 1.5175982413920688, "normalized_mutual_information": 0.6184867916523407, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.32500000000000007, -0.07500000000000001 ], "objective": 1.5331473951046044, "mutual_information": 1.5331473951046044, "normalized_mutual_information": 0.6229016209854042, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5335104680045457, "mutual_information": 1.5335104680045457, "normalized_mutual_information": 0.6222536259776786, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05000000000000001 ], "objective": 1.5292231262025702, "mutual_information": 1.5292231262025702, "normalized_mutual_information": 0.621348580414712, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.547007616430846, "mutual_information": 1.547007616430846, "normalized_mutual_information": 0.6273934603735739, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.521299023526743, "mutual_information": 1.521299023526743, "normalized_mutual_information": 0.6189360603866093, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.0, -0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5395570636639604, "mutual_information": 1.5395570636639604, "normalized_mutual_information": 0.6260494808108535, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.0, 0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.537898711315205, "mutual_information": 1.537898711315205, "normalized_mutual_information": 0.6241884327134933, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.53125 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5431797645724312, "mutual_information": 1.5431797645724312, "normalized_mutual_information": 0.6257841865296292, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5360976012048504, "mutual_information": 1.5360976012048504, "normalized_mutual_information": 0.6230643023832966, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5400400798402842, "mutual_information": 1.5400400798402842, "normalized_mutual_information": 0.6258189245140223, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1125, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5300905192918561, "mutual_information": 1.5300905192918561, "normalized_mutual_information": 0.6214543380594083, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.28750000000000003, -0.07500000000000001 ], "objective": 1.5172455875244424, "mutual_information": 1.5172455875244424, "normalized_mutual_information": 0.6185886315963184, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.31250000000000006, -0.07500000000000001 ], "objective": 1.539772219995121, "mutual_information": 1.539772219995121, "normalized_mutual_information": 0.6239479980989135, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.08750000000000001 ], "objective": 1.535441352908176, "mutual_information": 1.535441352908176, "normalized_mutual_information": 0.6228151528252615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.534368755528238, "mutual_information": 1.534368755528238, "normalized_mutual_information": 0.6227995720565737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5378318969209668, "mutual_information": 1.5378318969209668, "normalized_mutual_information": 0.6256018701017821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5421708588398506, "mutual_information": 1.5421708588398506, "normalized_mutual_information": 0.6252024096244626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ -0.03125, -0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5441828266563036, "mutual_information": 1.5441828266563036, "normalized_mutual_information": 0.6275043269751963, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ -0.03125, 0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.545530708411076, "mutual_information": 1.545530708411076, "normalized_mutual_information": 0.6269922586061073, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.53125 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5444314991052053, "mutual_information": 1.5444314991052053, "normalized_mutual_information": 0.6269043394011568, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5450113701051957, "mutual_information": 1.5450113701051957, "normalized_mutual_information": 0.6267740572636361, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5419047437695583, "mutual_information": 1.5419047437695583, "normalized_mutual_information": 0.6264664141567113, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1125, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5370089109058078, "mutual_information": 1.5370089109058078, "normalized_mutual_information": 0.6245744051521696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.28750000000000003, -0.07500000000000001 ], "objective": 1.5348490724732458, "mutual_information": 1.5348490724732458, "normalized_mutual_information": 0.6241140038345002, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.31250000000000006, -0.07500000000000001 ], "objective": 1.5387254235792558, "mutual_information": 1.5387254235792558, "normalized_mutual_information": 0.6252899360004104, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.08750000000000001 ], "objective": 1.5360950902603403, "mutual_information": 1.5360950902603403, "normalized_mutual_information": 0.6235331688619861, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5489788443115877, "mutual_information": 1.5489788443115877, "normalized_mutual_information": 0.6284255484847253, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 158, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5415261383015426, "mutual_information": 1.5415261383015426, "normalized_mutual_information": 0.6273890595982464, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.534368755528238, "mutual_information": 1.534368755528238, "normalized_mutual_information": 0.6227995720565737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ -0.03125, -0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5355828697409677, "mutual_information": 1.5355828697409677, "normalized_mutual_information": 0.6243597901531942, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ -0.03125, 0.03125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5433920148795675, "mutual_information": 1.5433920148795675, "normalized_mutual_information": 0.6262561587669235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.53125 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.549512069922689, "mutual_information": 1.549512069922689, "normalized_mutual_information": 0.6292942439657597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5566354701241416, "mutual_information": 1.5566354701241416, "normalized_mutual_information": 0.6315427046778014, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 164, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.541359606232973, "mutual_information": 1.541359606232973, "normalized_mutual_information": 0.6261471835784601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1125, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.539456043578341, "mutual_information": 1.539456043578341, "normalized_mutual_information": 0.6249092529139668, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.28750000000000003, -0.06250000000000001 ], "objective": 1.5311366243941198, "mutual_information": 1.5311366243941198, "normalized_mutual_information": 0.6234532585360045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.31250000000000006, -0.06250000000000001 ], "objective": 1.5393137658252627, "mutual_information": 1.5393137658252627, "normalized_mutual_information": 0.6251794672026519, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.547007616430846, "mutual_information": 1.547007616430846, "normalized_mutual_information": 0.6273934603735739, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05000000000000002 ], "objective": 1.5494622360434, "mutual_information": 1.5494622360434, "normalized_mutual_information": 0.6293453666712021, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.545914607335087, "mutual_information": 1.545914607335087, "normalized_mutual_information": 0.6280805089538503, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5331200475969904, "mutual_information": 1.5331200475969904, "normalized_mutual_information": 0.6226379965055421, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ -0.03125, -0.03125, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5435071679031032, "mutual_information": 1.5435071679031032, "normalized_mutual_information": 0.6279312514092402, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ -0.03125, 0.03125, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5490407982067012, "mutual_information": 1.5490407982067012, "normalized_mutual_information": 0.6282437425662414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5489788443115877, "mutual_information": 1.5489788443115877, "normalized_mutual_information": 0.6284255484847253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.4375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5411043179125876, "mutual_information": 1.5411043179125876, "normalized_mutual_information": 0.6255316569367131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5498093909968318, "mutual_information": 1.5498093909968318, "normalized_mutual_information": 0.6298191420722724, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1125, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5450207309710684, "mutual_information": 1.5450207309710684, "normalized_mutual_information": 0.6271059642645758, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.28750000000000003, -0.06250000000000001 ], "objective": 1.530479156107333, "mutual_information": 1.530479156107333, "normalized_mutual_information": 0.62341570976462, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.31250000000000006, -0.06250000000000001 ], "objective": 1.5369370421494661, "mutual_information": 1.5369370421494661, "normalized_mutual_information": 0.6239640109108423, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.07500000000000001 ], "objective": 1.5450113701051957, "mutual_information": 1.5450113701051957, "normalized_mutual_information": 0.6267740572636361, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05000000000000002 ], "objective": 1.552245221974763, "mutual_information": 1.552245221974763, "normalized_mutual_information": 0.6308299603400037, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ -0.046875, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5486193711031315, "mutual_information": 1.5486193711031315, "normalized_mutual_information": 0.6284525799778725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ -0.015625, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.543953510378859, "mutual_information": 1.543953510378859, "normalized_mutual_information": 0.6263283770330493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ -0.03125, -0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5477651564743355, "mutual_information": 1.5477651564743355, "normalized_mutual_information": 0.6280927178262474, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.556734946363833, "mutual_information": 1.556734946363833, "normalized_mutual_information": 0.6318752170894721, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 186, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5563917852741393, "mutual_information": 1.5563917852741393, "normalized_mutual_information": 0.6312128082655494, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.453125 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5473963320181727, "mutual_information": 1.5473963320181727, "normalized_mutual_information": 0.6277257129051453, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.09375, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5563086196056222, "mutual_information": 1.5563086196056222, "normalized_mutual_information": 0.6315172780980042, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5531907330344137, "mutual_information": 1.5531907330344137, "normalized_mutual_information": 0.6309158216929893, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.29375000000000007, -0.06250000000000001 ], "objective": 1.5427071600873958, "mutual_information": 1.5427071600873958, "normalized_mutual_information": 0.6268619991894445, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30625, -0.06250000000000001 ], "objective": 1.5497593352314756, "mutual_information": 1.5497593352314756, "normalized_mutual_information": 0.628954814962504, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06875000000000002 ], "objective": 1.5501572489690927, "mutual_information": 1.5501572489690927, "normalized_mutual_information": 0.6288879345488224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.056250000000000015 ], "objective": 1.5533949479850986, "mutual_information": 1.5533949479850986, "normalized_mutual_information": 0.6308189654351212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ -0.046875, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5444269544040683, "mutual_information": 1.5444269544040683, "normalized_mutual_information": 0.6276410332132144, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ -0.015625, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.549014285386632, "mutual_information": 1.549014285386632, "normalized_mutual_information": 0.6282560512420122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5566354701241416, "mutual_information": 1.5566354701241416, "normalized_mutual_information": 0.6315427046778014, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ -0.03125, 0.03125, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5490407982067012, "mutual_information": 1.5490407982067012, "normalized_mutual_information": 0.6282437425662414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5571390832792265, "mutual_information": 1.5571390832792265, "normalized_mutual_information": 0.6316389549601192, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 199, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.453125 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5503989628690267, "mutual_information": 1.5503989628690267, "normalized_mutual_information": 0.6290941667921911, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.09375, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.55610529342591, "mutual_information": 1.55610529342591, "normalized_mutual_information": 0.6321749030571896, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5453740067883963, "mutual_information": 1.5453740067883963, "normalized_mutual_information": 0.6267782172617523, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.29375000000000007, -0.06250000000000001 ], "objective": 1.5421306449752894, "mutual_information": 1.5421306449752894, "normalized_mutual_information": 0.6265180020604383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30625, -0.06250000000000001 ], "objective": 1.547431212845231, "mutual_information": 1.547431212845231, "normalized_mutual_information": 0.6282020219492235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06875000000000002 ], "objective": 1.5483143662069943, "mutual_information": 1.5483143662069943, "normalized_mutual_information": 0.6284540417807651, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.056250000000000015 ], "objective": 1.5522416151103766, "mutual_information": 1.5522416151103766, "normalized_mutual_information": 0.6307094838954135, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ -0.046875, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5478541478778236, "mutual_information": 1.5478541478778236, "normalized_mutual_information": 0.6283362857289224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ -0.015625, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5484163172639214, "mutual_information": 1.5484163172639214, "normalized_mutual_information": 0.6278112567587409, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5563917852741393, "mutual_information": 1.5563917852741393, "normalized_mutual_information": 0.6312128082655494, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ -0.03125, 0.03125, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5499540441794506, "mutual_information": 1.5499540441794506, "normalized_mutual_information": 0.6287029173331605, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5501555286721718, "mutual_information": 1.5501555286721718, "normalized_mutual_information": 0.6288896345564097, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.46875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.556734946363833, "mutual_information": 1.556734946363833, "normalized_mutual_information": 0.6318752170894721, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.09375, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.553130696030651, "mutual_information": 1.553130696030651, "normalized_mutual_information": 0.6305520529292162, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.30000000000000004, -0.06250000000000001 ], "objective": 1.5448544758254765, "mutual_information": 1.5448544758254765, "normalized_mutual_information": 0.6265998879559732, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.29375000000000007, -0.06250000000000001 ], "objective": 1.545879424576856, "mutual_information": 1.545879424576856, "normalized_mutual_information": 0.6280309952272393, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30625, -0.06250000000000001 ], "objective": 1.5457886776148715, "mutual_information": 1.5457886776148715, "normalized_mutual_information": 0.627795024429528, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.06875000000000002 ], "objective": 1.5479292708263663, "mutual_information": 1.5479292708263663, "normalized_mutual_information": 0.6283001100294975, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ -0.03125, 0.015625, -0.484375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.056250000000000015 ], "objective": 1.5525430775099396, "mutual_information": 1.5525430775099396, "normalized_mutual_information": 0.6303567822653107, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 217, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 1.381195047213306, "translation_m": 0.3204001404494074, "recovered": false }, "mi_seconds": 0.48642939899582416, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.29342519790385685, "translation_m": 0.23648076039394442, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.39556887627517673, "archived_cost": 1047.4206540214536, "common_supported": 1389, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1092.5339979358882, "supported_cost": 114.42344080514235, "signed_quantiles_m": [ -68.00258872572988, -1.5005510836316565, -0.08720673612447616, 0.34340340805427444, 26.626196877326407 ], "negative_fraction": 0.6412162162162162, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 81.98743786549527 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1078.6237012156657, "supported_cost": 100.51314408491965, "signed_quantiles_m": [ -67.6070198494547, -1.1049822073564797, 0.30836214015070057, 0.7389722843294513, 27.021765753601585 ], "negative_fraction": 0.29864864864864865, "absolute_over_1m_fraction": 0.1891891891891892, "common_support_cost": 68.92471713685177 }, "fit_zero": { "total": 12288, "supported": 1561, "cost": 1058.873222332255, "supported_cost": 88.09306445461674, "signed_quantiles_m": [ -37.79063505091578, -1.3120093339065981, -0.06765869432214089, 0.6449295645999555, 49.30371349659174 ], "negative_fraction": 0.6098654708520179, "absolute_over_1m_fraction": 0.19987187700192185, "common_support_cost": 76.22473385510581 }, "fit_fitted_bias": { "total": 12288, "supported": 1561, "cost": 1047.4206540214536, "supported_cost": 76.64049614381561, "signed_quantiles_m": [ -37.395066174640604, -0.9164404576314213, 0.32791018195303584, 1.0404984408751323, 49.69928237286692 ], "negative_fraction": 0.24023062139654067, "absolute_over_1m_fraction": 0.1960281870595772, "common_support_cost": 65.80388002899407 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.605488247406273, "translation_m": 0.5076172318300631, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4482846380669681, "archived_cost": 1043.2117344140183, "common_supported": 1349, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 77.5302028293239 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1077.8511120571359, "supported_cost": 99.74055492638966, "signed_quantiles_m": [ -67.55430408766291, -1.0608168550737447, 0.36497293538626946, 0.7977759253356761, 26.98789200894594 ], "negative_fraction": 0.2756756756756757, "absolute_over_1m_fraction": 0.1918918918918919, "common_support_cost": 63.2266796947022 }, "fit_zero": { "total": 12288, "supported": 1620, "cost": 1056.9677339382617, "supported_cost": 91.52700267708482, "signed_quantiles_m": [ -41.422674844561065, -1.2904665990531903, -0.012652248728672877, 0.9069512671022705, 49.580628740423606 ], "negative_fraction": 0.5111111111111111, "absolute_over_1m_fraction": 0.2123456790123457, "common_support_cost": 73.33994364033839 }, "fit_fitted_bias": { "total": 12288, "supported": 1620, "cost": 1043.2117344140183, "supported_cost": 77.77100315284162, "signed_quantiles_m": [ -40.9743902064941, -0.8421819609862222, 0.43563238933829523, 1.3552359051692384, 50.02891337849057 ], "negative_fraction": 0.22037037037037038, "absolute_over_1m_fraction": 0.21728395061728395, "common_support_cost": 61.524950000421065 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.605488247406273, "translation_m": 0.5076172318300631, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.499999495680579, "archived_cost": 1042.2300728787354, "common_supported": 1349, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 77.5302028293239 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1076.5676025455032, "supported_cost": 98.45704541475703, "signed_quantiles_m": [ -67.5025892300493, -1.0091019974601336, 0.41668779299988035, 0.849490782949287, 27.039606866559552 ], "negative_fraction": 0.25675675675675674, "absolute_over_1m_fraction": 0.18986486486486487, "common_support_cost": 62.04752520767851 }, "fit_zero": { "total": 12288, "supported": 1620, "cost": 1056.9677339382617, "supported_cost": 91.52700267708482, "signed_quantiles_m": [ -41.422674844561065, -1.2904665990531903, -0.012652248728672877, 0.9069512671022705, 49.580628740423606 ], "negative_fraction": 0.5111111111111111, "absolute_over_1m_fraction": 0.2123456790123457, "common_support_cost": 73.33994364033839 }, "fit_fitted_bias": { "total": 12288, "supported": 1620, "cost": 1042.2300728787354, "supported_cost": 76.78934161755862, "signed_quantiles_m": [ -40.92267534888049, -0.7904671033726113, 0.4873472469519061, 1.4069507627828495, 50.08062823610418 ], "negative_fraction": 0.195679012345679, "absolute_over_1m_fraction": 0.22654320987654322, "common_support_cost": 60.656528927678394 } } } ] }, { "case_id": "2011_09_26_0005-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4947772517789984, -0.49996981832296017, 0.49991278639474485, 0.5052849274292378 ] }, "transform_camera_lidar": { "translation_m": [ 0.0695524478595304, -0.07546671853346001, -0.2506369124058732 ], "rotation_quat_xyzw": [ 0.49368531022587303, -0.501048064140613, 0.4988092368599056, 0.5063743645874723 ] }, "best_delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "best_delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5340950667583542, "normalized_mutual_information": 0.6341730363898098, "visible_point_count": 1525, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.3576983499284072, "normalized_mutual_information": 0.5824669537177497, "visible_point_count": 487, "projected_count_before_visibility": 673 }, { "frame_id": "frame-76", "mutual_information": 1.4490985742422953, "normalized_mutual_information": 0.6083248060169983, "visible_point_count": 552, "projected_count_before_visibility": 672 }, { "frame_id": "frame-114", "mutual_information": 1.7954882761043596, "normalized_mutual_information": 0.7117273494346814, "visible_point_count": 486, "projected_count_before_visibility": 632 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.560265458595498, "normalized_mutual_information": 0.6452081948742836, "visible_point_count": 1534, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.376990030259968, "normalized_mutual_information": 0.593080739712945, "visible_point_count": 487, "projected_count_before_visibility": 673 }, { "frame_id": "frame-76", "mutual_information": 1.4899642509904374, "normalized_mutual_information": 0.620967514294666, "visible_point_count": 558, "projected_count_before_visibility": 672 }, { "frame_id": "frame-114", "mutual_information": 1.8138420945360894, "normalized_mutual_information": 0.72157633061524, "visible_point_count": 489, "projected_count_before_visibility": 632 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5340950667583542, "mutual_information": 1.5340950667583542, "normalized_mutual_information": 0.6341730363898098, "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": 1.5052705001587068, "mutual_information": 1.5052705001587068, "normalized_mutual_information": 0.631285862299925, "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": 1.4814908829543867, "mutual_information": 1.4814908829543867, "normalized_mutual_information": 0.6133570738339492, "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": 1.516125308450168, "mutual_information": 1.516125308450168, "normalized_mutual_information": 0.6284484834759191, "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": 1.5277442076058303, "mutual_information": 1.5277442076058303, "normalized_mutual_information": 0.6324379904390619, "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": 1.5441619438125065, "mutual_information": 1.5441619438125065, "normalized_mutual_information": 0.6393881385951351, "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": 1.50044242924895, "mutual_information": 1.50044242924895, "normalized_mutual_information": 0.6231257563792642, "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": 1.5256149212710268, "mutual_information": 1.5256149212710268, "normalized_mutual_information": 0.6299471294259773, "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": 1.5086820378924752, "mutual_information": 1.5086820378924752, "normalized_mutual_information": 0.6251575543349973, "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": 1.4597458030648678, "mutual_information": 1.4597458030648678, "normalized_mutual_information": 0.6021253975729008, "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": 1.5326293770659352, "mutual_information": 1.5326293770659352, "normalized_mutual_information": 0.6376868950913168, "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": 1.5137182793895858, "mutual_information": 1.5137182793895858, "normalized_mutual_information": 0.6285665730120491, "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": 1.538905582271853, "mutual_information": 1.538905582271853, "normalized_mutual_information": 0.637309452812691, "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": 1.5087425982698688, "mutual_information": 1.5087425982698688, "normalized_mutual_information": 0.632030385028727, "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": 1.4980131543482234, "mutual_information": 1.4980131543482234, "normalized_mutual_information": 0.6181594907433621, "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": 1.52265667283523, "mutual_information": 1.52265667283523, "normalized_mutual_information": 0.6309444918154455, "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": 1.518501962273515, "mutual_information": 1.518501962273515, "normalized_mutual_information": 0.6278936344823695, "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": 1.527249692860555, "mutual_information": 1.527249692860555, "normalized_mutual_information": 0.6309992099280325, "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": 1.5340950667583542, "mutual_information": 1.5340950667583542, "normalized_mutual_information": 0.6341730363898098, "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": 1.5344663753489518, "mutual_information": 1.5344663753489518, "normalized_mutual_information": 0.634734593801581, "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": 1.513468156384876, "mutual_information": 1.513468156384876, "normalized_mutual_information": 0.6282262996944646, "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": 1.4621974410508998, "mutual_information": 1.4621974410508998, "normalized_mutual_information": 0.6029313299536679, "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": 1.532042293662822, "mutual_information": 1.532042293662822, "normalized_mutual_information": 0.6377391229939268, "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": 1.5096482306800378, "mutual_information": 1.5096482306800378, "normalized_mutual_information": 0.6260470490457494, "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": 1.5264259134207627, "mutual_information": 1.5264259134207627, "normalized_mutual_information": 0.6301791971116966, "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": 1.512181583159182, "mutual_information": 1.512181583159182, "normalized_mutual_information": 0.6304151591155738, "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": 1.5165989999094938, "mutual_information": 1.5165989999094938, "normalized_mutual_information": 0.6262410292707612, "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": 1.531237648254715, "mutual_information": 1.531237648254715, "normalized_mutual_information": 0.6342679110218864, "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": 1.5423787714893986, "mutual_information": 1.5423787714893986, "normalized_mutual_information": 0.6383669788037866, "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": 1.5310545264631452, "mutual_information": 1.5310545264631452, "normalized_mutual_information": 0.633057313816311, "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": 1.5304367722451484, "mutual_information": 1.5304367722451484, "normalized_mutual_information": 0.6329844836673368, "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": 1.5355752981793571, "mutual_information": 1.5355752981793571, "normalized_mutual_information": 0.6365602929155164, "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": 1.5277747234690828, "mutual_information": 1.5277747234690828, "normalized_mutual_information": 0.6326423967206272, "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": 1.4964791495154195, "mutual_information": 1.4964791495154195, "normalized_mutual_information": 0.6190666185674495, "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": 1.534443297825493, "mutual_information": 1.534443297825493, "normalized_mutual_information": 0.6414061635441001, "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": 1.5341246978392988, "mutual_information": 1.5341246978392988, "normalized_mutual_information": 0.634261607542478, "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": 1.52878176420262, "mutual_information": 1.52878176420262, "normalized_mutual_information": 0.6337837467403761, "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": 1.5311134790482752, "mutual_information": 1.5311134790482752, "normalized_mutual_information": 0.6363912986574944, "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": 1.5319015101282396, "mutual_information": 1.5319015101282396, "normalized_mutual_information": 0.6309853926500645, "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": 1.5413312924505764, "mutual_information": 1.5413312924505764, "normalized_mutual_information": 0.6392280809308054, "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": 1.538730806089769, "mutual_information": 1.538730806089769, "normalized_mutual_information": 0.6364470665970519, "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": 1.5337743930382477, "mutual_information": 1.5337743930382477, "normalized_mutual_information": 0.6362086744653622, "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": 1.5385032822442621, "mutual_information": 1.5385032822442621, "normalized_mutual_information": 0.6361300487036693, "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": 1.5311320878655994, "mutual_information": 1.5311320878655994, "normalized_mutual_information": 0.6347640763618194, "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": 1.543685166953339, "mutual_information": 1.543685166953339, "normalized_mutual_information": 0.638065721630367, "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": 1.5314482150518955, "mutual_information": 1.5314482150518955, "normalized_mutual_information": 0.6330569916612739, "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": 1.534481227275112, "mutual_information": 1.534481227275112, "normalized_mutual_information": 0.6378020442992333, "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": 1.5331149261756989, "mutual_information": 1.5331149261756989, "normalized_mutual_information": 0.6344424956412106, "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": 1.545502836568762, "mutual_information": 1.545502836568762, "normalized_mutual_information": 0.6392979727727184, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.0625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5311421138051766, "mutual_information": 1.5311421138051766, "normalized_mutual_information": 0.6347690954158663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.0625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5304148986863986, "mutual_information": 1.5304148986863986, "normalized_mutual_information": 0.6301497533993206, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.0, -0.0625, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5357220331647898, "mutual_information": 1.5357220331647898, "normalized_mutual_information": 0.635030964462271, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.0, 0.0625, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.541557188163863, "mutual_information": 1.541557188163863, "normalized_mutual_information": 0.6375774139987577, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.3125 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5327283411313293, "mutual_information": 1.5327283411313293, "normalized_mutual_information": 0.6355314180274169, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.1875 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5300890984991025, "mutual_information": 1.5300890984991025, "normalized_mutual_information": 0.6322592046661705, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ -0.025, 0.0, 0.025 ], "objective": 1.532183524518994, "mutual_information": 1.532183524518994, "normalized_mutual_information": 0.6350247799018663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.025, 0.0, 0.025 ], "objective": 1.5400738043022002, "mutual_information": 1.5400738043022002, "normalized_mutual_information": 0.63699554042634, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.025, 0.025 ], "objective": 1.5149972355907309, "mutual_information": 1.5149972355907309, "normalized_mutual_information": 0.6266645791555013, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.025, 0.025 ], "objective": 1.5369970666162935, "mutual_information": 1.5369970666162935, "normalized_mutual_information": 0.6381359669501228, "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, 0.0 ], "objective": 1.5441619438125065, "mutual_information": 1.5441619438125065, "normalized_mutual_information": 0.6393881385951351, "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, 0.05 ], "objective": 1.52878176420262, "mutual_information": 1.52878176420262, "normalized_mutual_information": 0.6337837467403761, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5437425876708115, "mutual_information": 1.5437425876708115, "normalized_mutual_information": 0.6386901513604022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.03125, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5310734155045764, "mutual_information": 1.5310734155045764, "normalized_mutual_information": 0.6322048441256577, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, -0.03125, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5389534405826446, "mutual_information": 1.5389534405826446, "normalized_mutual_information": 0.6369155767898483, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.03125, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.5455106884889922, "mutual_information": 1.5455106884889922, "normalized_mutual_information": 0.638593864738044, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.28125 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.542358713069551, "mutual_information": 1.542358713069551, "normalized_mutual_information": 0.6384822909991538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.21875 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.535280099833116, "mutual_information": 1.535280099833116, "normalized_mutual_information": 0.6347467187675454, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ -0.0125, 0.0, 0.025 ], "objective": 1.5330591749733857, "mutual_information": 1.5330591749733857, "normalized_mutual_information": 0.635491535092861, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5579164847076108, "mutual_information": 1.5579164847076108, "normalized_mutual_information": 0.6446108701188544, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.0125, 0.025 ], "objective": 1.5161015735806167, "mutual_information": 1.5161015735806167, "normalized_mutual_information": 0.6259564823092711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0125, 0.025 ], "objective": 1.5381115521453694, "mutual_information": 1.5381115521453694, "normalized_mutual_information": 0.6361162492571598, "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, 0.0125 ], "objective": 1.5447279369322233, "mutual_information": 1.5447279369322233, "normalized_mutual_information": 0.63987835984283, "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, 0.037500000000000006 ], "objective": 1.5323611506972885, "mutual_information": 1.5323611506972885, "normalized_mutual_information": 0.6351325998580154, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.03125, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5490674174456043, "mutual_information": 1.5490674174456043, "normalized_mutual_information": 0.6410437175159773, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.03125, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5456048776083973, "mutual_information": 1.5456048776083973, "normalized_mutual_information": 0.6397562123338505, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, -0.03125, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.533058919253798, "mutual_information": 1.533058919253798, "normalized_mutual_information": 0.6357652475212879, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.03125, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.543376748992359, "mutual_information": 1.543376748992359, "normalized_mutual_information": 0.638578816785083, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.28125 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5554711229254874, "mutual_information": 1.5554711229254874, "normalized_mutual_information": 0.6447878103759798, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.21875 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5508235949009552, "mutual_information": 1.5508235949009552, "normalized_mutual_information": 0.6415498576797706, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.025 ], "objective": 1.545502836568762, "mutual_information": 1.545502836568762, "normalized_mutual_information": 0.6392979727727184, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.025, 0.0, 0.025 ], "objective": 1.5400738043022002, "mutual_information": 1.5400738043022002, "normalized_mutual_information": 0.63699554042634, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, -0.0125, 0.025 ], "objective": 1.5339473579205656, "mutual_information": 1.5339473579205656, "normalized_mutual_information": 0.6337597746329343, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0125, 0.025 ], "objective": 1.543317814640493, "mutual_information": 1.543317814640493, "normalized_mutual_information": 0.6385068572988933, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.0125 ], "objective": 1.5562215241930932, "mutual_information": 1.5562215241930932, "normalized_mutual_information": 0.644036848987504, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.037500000000000006 ], "objective": 1.5435757628463005, "mutual_information": 1.5435757628463005, "normalized_mutual_information": 0.6389733413848959, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.015625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5548003464173696, "mutual_information": 1.5548003464173696, "normalized_mutual_information": 0.6432025187536186, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.015625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5475370602148406, "mutual_information": 1.5475370602148406, "normalized_mutual_information": 0.6400213330145909, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.0, -0.015625, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5390472000367252, "mutual_information": 1.5390472000367252, "normalized_mutual_information": 0.6383689826546268, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.0, 0.015625, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.552978971160717, "mutual_information": 1.552978971160717, "normalized_mutual_information": 0.6425815985654083, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.265625 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5558842937958548, "mutual_information": 1.5558842937958548, "normalized_mutual_information": 0.6438126802200991, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.234375 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5523005246966595, "mutual_information": 1.5523005246966595, "normalized_mutual_information": 0.6427596367695779, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.00625, 0.0, 0.025 ], "objective": 1.5395053968644976, "mutual_information": 1.5395053968644976, "normalized_mutual_information": 0.6379609695351821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.018750000000000003, 0.0, 0.025 ], "objective": 1.5541241113003033, "mutual_information": 1.5541241113003033, "normalized_mutual_information": 0.6426289397908991, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, -0.00625, 0.025 ], "objective": 1.5391430099127248, "mutual_information": 1.5391430099127248, "normalized_mutual_information": 0.6372183957595512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.00625, 0.025 ], "objective": 1.5460459554014092, "mutual_information": 1.5460459554014092, "normalized_mutual_information": 0.6395532648564702, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.560265458595498, "mutual_information": 1.560265458595498, "normalized_mutual_information": 0.6452081948742836, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.03125 ], "objective": 1.542429384254877, "mutual_information": 1.542429384254877, "normalized_mutual_information": 0.639182060707554, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.015625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.555781801757913, "mutual_information": 1.555781801757913, "normalized_mutual_information": 0.6436259251174804, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.015625, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.546018614584532, "mutual_information": 1.546018614584532, "normalized_mutual_information": 0.6393255919498058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0, -0.015625, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.5439981588513436, "mutual_information": 1.5439981588513436, "normalized_mutual_information": 0.6395353487688483, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0, 0.015625, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.5525458073099365, "mutual_information": 1.5525458073099365, "normalized_mutual_information": 0.6426084589918984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.265625 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.5562269757390383, "mutual_information": 1.5562269757390383, "normalized_mutual_information": 0.6446507586467765, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.234375 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.018750000000000003 ], "objective": 1.5536786576269288, "mutual_information": 1.5536786576269288, "normalized_mutual_information": 0.6427605786563455, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.00625, 0.0, 0.018750000000000003 ], "objective": 1.54441405612607, "mutual_information": 1.54441405612607, "normalized_mutual_information": 0.6399128132347238, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.018750000000000003, 0.0, 0.018750000000000003 ], "objective": 1.5518189102597368, "mutual_information": 1.5518189102597368, "normalized_mutual_information": 0.6421391198793497, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, -0.00625, 0.018750000000000003 ], "objective": 1.545424534029394, "mutual_information": 1.545424534029394, "normalized_mutual_information": 0.6389652375382711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.00625, 0.018750000000000003 ], "objective": 1.5461490725837788, "mutual_information": 1.5461490725837788, "normalized_mutual_information": 0.6396234702325484, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.012500000000000002 ], "objective": 1.5562215241930932, "mutual_information": 1.5562215241930932, "normalized_mutual_information": 0.644036848987504, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, 0.025 ], "objective": 1.5579164847076108, "mutual_information": 1.5579164847076108, "normalized_mutual_information": 0.6446108701188544, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.24999999999998285, "translation_m": 0.02253469547164992, "recovered": true }, "mi_seconds": 0.2515203049988486, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.4382282613043882, "translation_m": 0.19732750356385184, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.49748572496360977, "archived_cost": 1032.6949888594934, "common_supported": 1385, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1092.5339979358882, "supported_cost": 114.42344080514235, "signed_quantiles_m": [ -68.00258872572988, -1.5005510836316565, -0.08720673612447616, 0.34340340805427444, 26.626196877326407 ], "negative_fraction": 0.6412162162162162, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 84.91247588040136 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1076.0415918906456, "supported_cost": 97.93103475989955, "signed_quantiles_m": [ -67.50510300076627, -1.0030653586680467, 0.4102789888391336, 0.8408891330178843, 27.123682602290017 ], "negative_fraction": 0.2574324324324324, "absolute_over_1m_fraction": 0.18716216216216217, "common_support_cost": 69.47834329468388 }, "fit_zero": { "total": 12288, "supported": 1568, "cost": 1069.334708000078, "supported_cost": 99.18804141591835, "signed_quantiles_m": [ -39.18606069159383, -1.1155669575746958, -0.3895463691822112, 0.43851981252709243, 49.298972902739365 ], "negative_fraction": 0.8061224489795918, "absolute_over_1m_fraction": 0.1881377551020408, "common_support_cost": 87.71750002551607 }, "fit_fitted_bias": { "total": 12288, "supported": 1568, "cost": 1032.6949888594936, "supported_cost": 62.54832227533378, "signed_quantiles_m": [ -38.68857496663022, -0.6180812326110862, 0.10793935578139857, 0.9360055374907021, 49.796458627702975 ], "negative_fraction": 0.3080357142857143, "absolute_over_1m_fraction": 0.17283163265306123, "common_support_cost": 55.68408771079604 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.15178569313990858, "translation_m": 0.07531669061308535, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.14806331315629875, "archived_cost": 1060.5626230348669, "common_supported": 1420, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 93.96695163443425 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1086.484967242218, "supported_cost": 108.3744101114721, "signed_quantiles_m": [ -67.85452541257358, -1.361038179984414, 0.0647516104756001, 0.49755460042500677, 26.68767068403527 ], "negative_fraction": 0.42905405405405406, "absolute_over_1m_fraction": 0.19527027027027027, "common_support_cost": 87.39399588456236 }, "fit_zero": { "total": 12288, "supported": 1515, "cost": 1070.003120292474, "supported_cost": 95.0600196291202, "signed_quantiles_m": [ -39.0365396578289, -1.2501404836242016, -0.14594771610579116, 0.31416768101009485, 26.856267158954402 ], "negative_fraction": 0.7815181518151815, "absolute_over_1m_fraction": 0.18415841584158416, "common_support_cost": 85.71807606411569 }, "fit_fitted_bias": { "total": 12288, "supported": 1515, "cost": 1060.5626230348669, "supported_cost": 85.619522371513, "signed_quantiles_m": [ -38.8884763446726, -1.1020771704679029, 0.002115597050507595, 0.46223099416639357, 27.004330472110702 ], "negative_fraction": 0.4976897689768977, "absolute_over_1m_fraction": 0.1768976897689769, "common_support_cost": 76.67703011261608 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.15178569313990858, "translation_m": 0.07531669061308535, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.49999963528468727, "archived_cost": 1051.7967604174737, "common_supported": 1420, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 93.96695163443425 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1076.5675991639487, "supported_cost": 98.45704203320274, "signed_quantiles_m": [ -67.5025890904452, -1.0091018578560254, 0.4166879326039886, 0.8494909225533953, 27.03960700616366 ], "negative_fraction": 0.25675675675675674, "absolute_over_1m_fraction": 0.18986486486486487, "common_support_cost": 77.76310782737625 }, "fit_zero": { "total": 12288, "supported": 1515, "cost": 1070.003120292474, "supported_cost": 95.0600196291202, "signed_quantiles_m": [ -39.0365396578289, -1.2501404836242016, -0.14594771610579116, 0.31416768101009485, 26.856267158954402 ], "negative_fraction": 0.7815181518151815, "absolute_over_1m_fraction": 0.18415841584158416, "common_support_cost": 85.71807606411569 }, "fit_fitted_bias": { "total": 12288, "supported": 1515, "cost": 1051.7967604174737, "supported_cost": 76.85365975411982, "signed_quantiles_m": [ -38.53654002254421, -0.7501408483395144, 0.3540519191788961, 0.8141673162947821, 27.35626679423909 ], "negative_fraction": 0.2514851485148515, "absolute_over_1m_fraction": 0.1716171617161716, "common_support_cost": 67.92180898554943 } } } ] }, { "case_id": "2011_09_26_0005-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.4925831399386632, -0.49327649462345813, 0.4977114921133187, 0.5160653260184167 ] }, "transform_camera_lidar": { "translation_m": [ -0.1429475521404696, -0.06921671853346001, -0.2568869124058732 ], "rotation_quat_xyzw": [ 0.4955983208358478, -0.49930417964216256, 0.497202643032936, 0.5078062350322395 ] }, "best_delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "best_delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.2101868142593883, "normalized_mutual_information": 0.5113158853843142, "visible_point_count": 1398, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.0477521682277127, "normalized_mutual_information": 0.4603072048677613, "visible_point_count": 429, "projected_count_before_visibility": 626 }, { "frame_id": "frame-76", "mutual_information": 1.144144836254556, "normalized_mutual_information": 0.4960972791689112, "visible_point_count": 501, "projected_count_before_visibility": 625 }, { "frame_id": "frame-114", "mutual_information": 1.438663438295896, "normalized_mutual_information": 0.5775431721162699, "visible_point_count": 468, "projected_count_before_visibility": 581 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.584657493460239, "normalized_mutual_information": 0.6507936764264938, "visible_point_count": 1526, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-38", "mutual_information": 1.4432895664418357, "normalized_mutual_information": 0.6223075490691815, "visible_point_count": 485, "projected_count_before_visibility": 675 }, { "frame_id": "frame-76", "mutual_information": 1.5326459862798423, "normalized_mutual_information": 0.6351389276187783, "visible_point_count": 545, "projected_count_before_visibility": 671 }, { "frame_id": "frame-114", "mutual_information": 1.7780369276590395, "normalized_mutual_information": 0.6949345525915216, "visible_point_count": 496, "projected_count_before_visibility": 642 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.2101868142593883, "mutual_information": 1.2101868142593883, "normalized_mutual_information": 0.5113158853843142, "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": 1.166024260699558, "mutual_information": 1.166024260699558, "normalized_mutual_information": 0.4927940003814177, "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": 1.2903168664830063, "mutual_information": 1.2903168664830063, "normalized_mutual_information": 0.5389862415382557, "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": 1.2523479642357127, "mutual_information": 1.2523479642357127, "normalized_mutual_information": 0.5292321923484852, "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": 1.197654982850004, "mutual_information": 1.197654982850004, "normalized_mutual_information": 0.5058127811171281, "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": 1.221651255309818, "mutual_information": 1.221651255309818, "normalized_mutual_information": 0.5159954090304831, "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": 1.2175937050035137, "mutual_information": 1.2175937050035137, "normalized_mutual_information": 0.5152999524064951, "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": 1.245050305196297, "mutual_information": 1.245050305196297, "normalized_mutual_information": 0.5273577233018073, "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": 1.2180001838316057, "mutual_information": 1.2180001838316057, "normalized_mutual_information": 0.5162626320785765, "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": 1.3203881939236337, "mutual_information": 1.3203881939236337, "normalized_mutual_information": 0.5549778046635676, "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": 1.175404571579968, "mutual_information": 1.175404571579968, "normalized_mutual_information": 0.4962714729543742, "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": 1.1987726710103743, "mutual_information": 1.1987726710103743, "normalized_mutual_information": 0.5082535098229694, "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": 1.2410506167380848, "mutual_information": 1.2410506167380848, "normalized_mutual_information": 0.5250180195243256, "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": 1.244710272933218, "mutual_information": 1.244710272933218, "normalized_mutual_information": 0.5267079866833361, "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": 1.3701246254063424, "mutual_information": 1.3701246254063424, "normalized_mutual_information": 0.5727291028241283, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3422969128196118, "mutual_information": 1.3422969128196118, "normalized_mutual_information": 0.5664070301625835, "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": 1.3022848526236626, "mutual_information": 1.3022848526236626, "normalized_mutual_information": 0.5471654473219857, "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": 1.3207797546943827, "mutual_information": 1.3207797546943827, "normalized_mutual_information": 0.5540911505230651, "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": 1.3216287730147576, "mutual_information": 1.3216287730147576, "normalized_mutual_information": 0.5564541528888339, "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": 1.3289384892693572, "mutual_information": 1.3289384892693572, "normalized_mutual_information": 0.5621644105293563, "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": 1.2873344151021353, "mutual_information": 1.2873344151021353, "normalized_mutual_information": 0.5420692543269955, "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": 1.356421060549512, "mutual_information": 1.356421060549512, "normalized_mutual_information": 0.5678224167034178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.2101868142593883, "mutual_information": 1.2101868142593883, "normalized_mutual_information": 0.5113158853843142, "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": 1.3031715089671145, "mutual_information": 1.3031715089671145, "normalized_mutual_information": 0.5471820650734279, "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": 1.3598850255402513, "mutual_information": 1.3598850255402513, "normalized_mutual_information": 0.5741400517210015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3203881939236337, "mutual_information": 1.3203881939236337, "normalized_mutual_information": 0.5549778046635676, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4091661267569187, "mutual_information": 1.4091661267569187, "normalized_mutual_information": 0.590564431366549, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3842994204190033, "mutual_information": 1.3842994204190033, "normalized_mutual_information": 0.5806862907546261, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.354863266372005, "mutual_information": 1.354863266372005, "normalized_mutual_information": 0.5676412016129163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3643657949314132, "mutual_information": 1.3643657949314132, "normalized_mutual_information": 0.5704454516780467, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3622484162497006, "mutual_information": 1.3622484162497006, "normalized_mutual_information": 0.5696201906350343, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.3969296421949056, "mutual_information": 1.3969296421949056, "normalized_mutual_information": 0.586239736874831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.3287904159372852, "mutual_information": 1.3287904159372852, "normalized_mutual_information": 0.5568488831607421, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.3663966632548188, "mutual_information": 1.3663966632548188, "normalized_mutual_information": 0.5728404378489785, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.2903168664830063, "mutual_information": 1.2903168664830063, "normalized_mutual_information": 0.5389862415382557, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.3660914130774497, "mutual_information": 1.3660914130774497, "normalized_mutual_information": 0.5705021705624889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.3798461395750852, "mutual_information": 1.3798461395750852, "normalized_mutual_information": 0.5786780813199957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3701246254063424, "mutual_information": 1.3701246254063424, "normalized_mutual_information": 0.5727291028241283, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3875266562197206, "mutual_information": 1.3875266562197206, "normalized_mutual_information": 0.5747464255448711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4102059652642112, "mutual_information": 1.4102059652642112, "normalized_mutual_information": 0.591329271149814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3631685510369234, "mutual_information": 1.3631685510369234, "normalized_mutual_information": 0.5723257695650089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4061694383863566, "mutual_information": 1.4061694383863566, "normalized_mutual_information": 0.5877554354358365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.406655827247241, "mutual_information": 1.406655827247241, "normalized_mutual_information": 0.5879706151164616, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4259876173890618, "mutual_information": 1.4259876173890618, "normalized_mutual_information": 0.5995452408560161, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.3428406706190323, "mutual_information": 1.3428406706190323, "normalized_mutual_information": 0.5646938776941007, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.3582419256432943, "mutual_information": 1.3582419256432943, "normalized_mutual_information": 0.5637389464405781, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.3573288359435438, "mutual_information": 1.3573288359435438, "normalized_mutual_information": 0.5639425512047903, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.3844195192161335, "mutual_information": 1.3844195192161335, "normalized_mutual_information": 0.5795056907982019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.4199776634641301, "mutual_information": 1.4199776634641301, "normalized_mutual_information": 0.596513580828524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.3969296421949056, "mutual_information": 1.3969296421949056, "normalized_mutual_information": 0.586239736874831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4467470001748197, "mutual_information": 1.4467470001748197, "normalized_mutual_information": 0.6031054259373783, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4554468261616849, "mutual_information": 1.4554468261616849, "normalized_mutual_information": 0.6102723194394534, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.3916665296707234, "mutual_information": 1.3916665296707234, "normalized_mutual_information": 0.5861176242304598, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.426227789452372, "mutual_information": 1.426227789452372, "normalized_mutual_information": 0.5988573878001224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.41841272530976, "mutual_information": 1.41841272530976, "normalized_mutual_information": 0.5955730119534663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4498315599042726, "mutual_information": 1.4498315599042726, "normalized_mutual_information": 0.606003329449647, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4091661267569187, "mutual_information": 1.4091661267569187, "normalized_mutual_information": 0.590564431366549, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.39681411694127, "mutual_information": 1.39681411694127, "normalized_mutual_information": 0.5823253048818381, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.383984626822576, "mutual_information": 1.383984626822576, "normalized_mutual_information": 0.5799453272594867, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4311107990763847, "mutual_information": 1.4311107990763847, "normalized_mutual_information": 0.6009850848032713, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4322413643686105, "mutual_information": 1.4322413643686105, "normalized_mutual_information": 0.6024856613390718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4094901118985959, "mutual_information": 1.4094901118985959, "normalized_mutual_information": 0.5929695085320678, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.47892087997762, "mutual_information": 1.47892087997762, "normalized_mutual_information": 0.6177954361981536, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4838752965388196, "mutual_information": 1.4838752965388196, "normalized_mutual_information": 0.6165497202054339, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4259876173890618, "mutual_information": 1.4259876173890618, "normalized_mutual_information": 0.5995452408560161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.5, -0.25, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4376356135016088, "mutual_information": 1.4376356135016088, "normalized_mutual_information": 0.6037630171310928, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4628448930897917, "mutual_information": 1.4628448930897917, "normalized_mutual_information": 0.6134849562523063, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4767306653328351, "mutual_information": 1.4767306653328351, "normalized_mutual_information": 0.615279875456931, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4102059652642112, "mutual_information": 1.4102059652642112, "normalized_mutual_information": 0.591329271149814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4089652421493775, "mutual_information": 1.4089652421493775, "normalized_mutual_information": 0.5876855484566604, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4010519143095934, "mutual_information": 1.4010519143095934, "normalized_mutual_information": 0.5875734272804531, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4536950541204998, "mutual_information": 1.4536950541204998, "normalized_mutual_information": 0.606327889104099, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4375635285300425, "mutual_information": 1.4375635285300425, "normalized_mutual_information": 0.6049581398417544, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4266944830560806, "mutual_information": 1.4266944830560806, "normalized_mutual_information": 0.5981982689251866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.51665740461291, "mutual_information": 1.51665740461291, "normalized_mutual_information": 0.6282837727968646, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4705361637371641, "mutual_information": 1.4705361637371641, "normalized_mutual_information": 0.6152660764759355, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4554468261616849, "mutual_information": 1.4554468261616849, "normalized_mutual_information": 0.6102723194394534, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.5, -0.5, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4792563194911115, "mutual_information": 1.4792563194911115, "normalized_mutual_information": 0.6150029855337662, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.480408717221591, "mutual_information": 1.480408717221591, "normalized_mutual_information": 0.6187029287958872, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4977565993980484, "mutual_information": 1.4977565993980484, "normalized_mutual_information": 0.6234227612622109, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.456806704822058, "mutual_information": 1.456806704822058, "normalized_mutual_information": 0.6121040011694454, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.45457650867981, "mutual_information": 1.45457650867981, "normalized_mutual_information": 0.6042738973495135, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4404681772202308, "mutual_information": 1.4404681772202308, "normalized_mutual_information": 0.6008806595046582, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4776829392427449, "mutual_information": 1.4776829392427449, "normalized_mutual_information": 0.615311375034903, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.505811786924972, "mutual_information": 1.505811786924972, "normalized_mutual_information": 0.6285125310251444, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4838752965388196, "mutual_information": 1.4838752965388196, "normalized_mutual_information": 0.6165497202054339, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5115395991697016, "mutual_information": 1.5115395991697016, "normalized_mutual_information": 0.6245674008983433, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5266750470729367, "mutual_information": 1.5266750470729367, "normalized_mutual_information": 0.6351253346920245, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.47892087997762, "mutual_information": 1.47892087997762, "normalized_mutual_information": 0.6177954361981536, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5048093076406577, "mutual_information": 1.5048093076406577, "normalized_mutual_information": 0.6215730810536345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5068356175321167, "mutual_information": 1.5068356175321167, "normalized_mutual_information": 0.6267051498579526, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.513343260392365, "mutual_information": 1.513343260392365, "normalized_mutual_information": 0.6278359017220866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4888514525716545, "mutual_information": 1.4888514525716545, "normalized_mutual_information": 0.6208859516214392, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4737763985884602, "mutual_information": 1.4737763985884602, "normalized_mutual_information": 0.6077069193768624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4863817736399632, "mutual_information": 1.4863817736399632, "normalized_mutual_information": 0.6159052079771699, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.5032512364268966, "mutual_information": 1.5032512364268966, "normalized_mutual_information": 0.6257334541458022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4908526354383025, "mutual_information": 1.4908526354383025, "normalized_mutual_information": 0.6208256293189457, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4705361637371641, "mutual_information": 1.4705361637371641, "normalized_mutual_information": 0.6152660764759355, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4880056346623665, "mutual_information": 1.4880056346623665, "normalized_mutual_information": 0.6164914091469408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4827188913223697, "mutual_information": 1.4827188913223697, "normalized_mutual_information": 0.6143295247410898, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.51665740461291, "mutual_information": 1.51665740461291, "normalized_mutual_information": 0.6282837727968646, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.75, -0.75, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5197316828984253, "mutual_information": 1.5197316828984253, "normalized_mutual_information": 0.6295635160957894, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5342753748162152, "mutual_information": 1.5342753748162152, "normalized_mutual_information": 0.637229029889984, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.5040937122275195, "mutual_information": 1.5040937122275195, "normalized_mutual_information": 0.6205820975762072, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5109107268264086, "mutual_information": 1.5109107268264086, "normalized_mutual_information": 0.6280292526223893, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4616157389090816, "mutual_information": 1.4616157389090816, "normalized_mutual_information": 0.6013937003180373, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4869057240518242, "mutual_information": 1.4869057240518242, "normalized_mutual_information": 0.620185711780224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.5245106386015959, "mutual_information": 1.5245106386015959, "normalized_mutual_information": 0.6340149457177268, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.5054184964954598, "mutual_information": 1.5054184964954598, "normalized_mutual_information": 0.6258319750985962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.497751556000466, "mutual_information": 1.497751556000466, "normalized_mutual_information": 0.6263139426150044, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5062670837807595, "mutual_information": 1.5062670837807595, "normalized_mutual_information": 0.6253003386914325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4634074781363828, "mutual_information": 1.4634074781363828, "normalized_mutual_information": 0.6067252545981221, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5068356175321167, "mutual_information": 1.5068356175321167, "normalized_mutual_information": 0.6267051498579526, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5266750470729367, "mutual_information": 1.5266750470729367, "normalized_mutual_information": 0.6351253346920245, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5098017745105665, "mutual_information": 1.5098017745105665, "normalized_mutual_information": 0.6289086629000767, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.471005816485467, "mutual_information": 1.471005816485467, "normalized_mutual_information": 0.610305853497801, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.531735544342433, "mutual_information": 1.531735544342433, "normalized_mutual_information": 0.6362941465456359, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4519369594551075, "mutual_information": 1.4519369594551075, "normalized_mutual_information": 0.5973081354701232, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4912678069866232, "mutual_information": 1.4912678069866232, "normalized_mutual_information": 0.6194554231182307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.5238181833116162, "mutual_information": 1.5238181833116162, "normalized_mutual_information": 0.6338567659781082, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.5000640095902291, "mutual_information": 1.5000640095902291, "normalized_mutual_information": 0.6228078820634003, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.625, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5157964279382916, "mutual_information": 1.5157964279382916, "normalized_mutual_information": 0.6329428969632943, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5406306122256321, "mutual_information": 1.5406306122256321, "normalized_mutual_information": 0.6374603098742272, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.75, -0.875, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4907462112315255, "mutual_information": 1.4907462112315255, "normalized_mutual_information": 0.6216326687333547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.533535214927192, "mutual_information": 1.533535214927192, "normalized_mutual_information": 0.6344728631666069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5239651774615577, "mutual_information": 1.5239651774615577, "normalized_mutual_information": 0.6347861558304075, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5190052584598952, "mutual_information": 1.5190052584598952, "normalized_mutual_information": 0.6312139445515809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.4866027132639623, "mutual_information": 1.4866027132639623, "normalized_mutual_information": 0.6205467319102574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.5173743612086745, "mutual_information": 1.5173743612086745, "normalized_mutual_information": 0.6311000654117872, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.4933951729230237, "mutual_information": 1.4933951729230237, "normalized_mutual_information": 0.6207557114155878, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.5071987778719897, "mutual_information": 1.5071987778719897, "normalized_mutual_information": 0.6289446295377957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.5273255585458585, "mutual_information": 1.5273255585458585, "normalized_mutual_information": 0.6355720955527621, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5048810319829062, "mutual_information": 1.5048810319829062, "normalized_mutual_information": 0.6250882683091789, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5342753748162152, "mutual_information": 1.5342753748162152, "normalized_mutual_information": 0.637229029889984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5062670837807595, "mutual_information": 1.5062670837807595, "normalized_mutual_information": 0.6253003386914325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.875, -0.875, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4961953927689828, "mutual_information": 1.4961953927689828, "normalized_mutual_information": 0.6198687622997229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5437267225397047, "mutual_information": 1.5437267225397047, "normalized_mutual_information": 0.6364440676012558, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5259789665335426, "mutual_information": 1.5259789665335426, "normalized_mutual_information": 0.6329096381898639, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.528261382750723, "mutual_information": 1.528261382750723, "normalized_mutual_information": 0.6338909470472595, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.4795939144120644, "mutual_information": 1.4795939144120644, "normalized_mutual_information": 0.6133464192286487, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.5285576963886391, "mutual_information": 1.5285576963886391, "normalized_mutual_information": 0.6327169994691867, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.471099701802995, "mutual_information": 1.471099701802995, "normalized_mutual_information": 0.6056544911153089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.5402165142943272, "mutual_information": 1.5402165142943272, "normalized_mutual_information": 0.6380658732468992, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.5269831647376855, "mutual_information": 1.5269831647376855, "normalized_mutual_information": 0.632197807507088, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5078629614443286, "mutual_information": 1.5078629614443286, "normalized_mutual_information": 0.6272348898607958, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.533535214927192, "mutual_information": 1.533535214927192, "normalized_mutual_information": 0.6344728631666069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.507975511116591, "mutual_information": 1.507975511116591, "normalized_mutual_information": 0.6241520786596628, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5406306122256321, "mutual_information": 1.5406306122256321, "normalized_mutual_information": 0.6374603098742272, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.875, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5438905569202952, "mutual_information": 1.5438905569202952, "normalized_mutual_information": 0.6380214088436547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5227516313735514, "mutual_information": 1.5227516313735514, "normalized_mutual_information": 0.6287928920801483, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.541920901429836, "mutual_information": 1.541920901429836, "normalized_mutual_information": 0.6371441701664687, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.516306742621791, "mutual_information": 1.516306742621791, "normalized_mutual_information": 0.6283000965911488, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.5225439297528904, "mutual_information": 1.5225439297528904, "normalized_mutual_information": 0.6289414944136043, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.4752657406288066, "mutual_information": 1.4752657406288066, "normalized_mutual_information": 0.6071479553920535, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.539430526597292, "mutual_information": 1.539430526597292, "normalized_mutual_information": 0.6375973120239568, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.536820363399696, "mutual_information": 1.536820363399696, "normalized_mutual_information": 0.6353280463955592, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5441773785782236, "mutual_information": 1.5441773785782236, "normalized_mutual_information": 0.6383348543688308, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5385752202073644, "mutual_information": 1.5385752202073644, "normalized_mutual_information": 0.637918876319001, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5063389398600247, "mutual_information": 1.5063389398600247, "normalized_mutual_information": 0.6225776126930122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5078629614443286, "mutual_information": 1.5078629614443286, "normalized_mutual_information": 0.6272348898607958, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.875, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.533124450990693, "mutual_information": 1.533124450990693, "normalized_mutual_information": 0.6363956480216226, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5215004295975258, "mutual_information": 1.5215004295975258, "normalized_mutual_information": 0.6300675483258887, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5495382627780891, "mutual_information": 1.5495382627780891, "normalized_mutual_information": 0.6408073720907385, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.05 ], "objective": 1.5013453783962483, "mutual_information": 1.5013453783962483, "normalized_mutual_information": 0.6233678834562623, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.05 ], "objective": 1.520787090484662, "mutual_information": 1.520787090484662, "normalized_mutual_information": 0.6282109747333415, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.05 ], "objective": 1.4846151519698492, "mutual_information": 1.4846151519698492, "normalized_mutual_information": 0.6106151236185465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5399806396603835, "mutual_information": 1.5399806396603835, "normalized_mutual_information": 0.6369625093398827, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5437267225397047, "mutual_information": 1.5437267225397047, "normalized_mutual_information": 0.6364440676012558, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.517233512208703, "mutual_information": 1.517233512208703, "normalized_mutual_information": 0.627230515766934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.539764185348293, "mutual_information": 1.539764185348293, "normalized_mutual_information": 0.6381484880844474, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5054195377727713, "mutual_information": 1.5054195377727713, "normalized_mutual_information": 0.6231699530719781, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.4888179739829723, "mutual_information": 1.4888179739829723, "normalized_mutual_information": 0.6182460143496601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.875, -0.5, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5251625333704137, "mutual_information": 1.5251625333704137, "normalized_mutual_information": 0.6330526354582978, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5441773785782236, "mutual_information": 1.5441773785782236, "normalized_mutual_information": 0.6383348543688308, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.536582690417667, "mutual_information": 1.536582690417667, "normalized_mutual_information": 0.6351384181518925, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.05 ], "objective": 1.4902263070296708, "mutual_information": 1.4902263070296708, "normalized_mutual_information": 0.6186852852129703, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.05 ], "objective": 1.529284063740401, "mutual_information": 1.529284063740401, "normalized_mutual_information": 0.6320647102843396, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.05 ], "objective": 1.478944796944429, "mutual_information": 1.478944796944429, "normalized_mutual_information": 0.6085907760726426, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5496300661696765, "mutual_information": 1.5496300661696765, "normalized_mutual_information": 0.6404548225609464, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.541920901429836, "mutual_information": 1.541920901429836, "normalized_mutual_information": 0.6371441701664687, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.5220693493209634, "mutual_information": 1.5220693493209634, "normalized_mutual_information": 0.6290708262187478, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5049782600962585, "mutual_information": 1.5049782600962585, "normalized_mutual_information": 0.6246596809236188, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5756868801684265, "mutual_information": 1.5756868801684265, "normalized_mutual_information": 0.6485353254361654, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 184, "delta_rotation_deg_xyz": [ 0.875, -0.75, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5242704223847632, "mutual_information": 1.5242704223847632, "normalized_mutual_information": 0.6315480120524546, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ 0.875, -0.5, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.532916022599481, "mutual_information": 1.532916022599481, "normalized_mutual_information": 0.6379672117204928, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5399806396603835, "mutual_information": 1.5399806396603835, "normalized_mutual_information": 0.6369625093398827, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5489830505992612, "mutual_information": 1.5489830505992612, "normalized_mutual_information": 0.6404385846708011, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.05, 0.05 ], "objective": 1.508114537437125, "mutual_information": 1.508114537437125, "normalized_mutual_information": 0.6267090323407104, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.05, -0.05, 0.05 ], "objective": 1.5258385573409161, "mutual_information": 1.5258385573409161, "normalized_mutual_information": 0.6340845432480301, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5495382627780891, "mutual_information": 1.5495382627780891, "normalized_mutual_information": 0.6408073720907385, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.05 ], "objective": 1.5129558613364094, "mutual_information": 1.5129558613364094, "normalized_mutual_information": 0.626684457344509, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.5331877830899625, "mutual_information": 1.5331877830899625, "normalized_mutual_information": 0.6346173936378645, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.1 ], "objective": 1.5411631036362816, "mutual_information": 1.5411631036362816, "normalized_mutual_information": 0.6369585455693857, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5496300661696765, "mutual_information": 1.5496300661696765, "normalized_mutual_information": 0.6404548225609464, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ 1.125, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5504376636931223, "mutual_information": 1.5504376636931223, "normalized_mutual_information": 0.6377330050829306, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.524551116878918, "mutual_information": 1.524551116878918, "normalized_mutual_information": 0.630364895832639, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5570439008668167, "mutual_information": 1.5570439008668167, "normalized_mutual_information": 0.6416884713146208, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5759739652807443, "mutual_information": 1.5759739652807443, "normalized_mutual_information": 0.6472815918516055, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 199, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5743654638018116, "mutual_information": 1.5743654638018116, "normalized_mutual_information": 0.6467671039788437, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.05, 0.05 ], "objective": 1.5127510381418736, "mutual_information": 1.5127510381418736, "normalized_mutual_information": 0.6274056615704383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.05, -0.05, 0.05 ], "objective": 1.549322722539981, "mutual_information": 1.549322722539981, "normalized_mutual_information": 0.6390612515835814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5054195377727713, "mutual_information": 1.5054195377727713, "normalized_mutual_information": 0.6231699530719781, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.05 ], "objective": 1.5505865646619537, "mutual_information": 1.5505865646619537, "normalized_mutual_information": 0.6403315505219874, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.5577608888093362, "mutual_information": 1.5577608888093362, "normalized_mutual_information": 0.6431779678140864, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.1 ], "objective": 1.5581032566430775, "mutual_information": 1.5581032566430775, "normalized_mutual_information": 0.6433797127416602, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ 0.875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5399806396603835, "mutual_information": 1.5399806396603835, "normalized_mutual_information": 0.6369625093398827, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ 1.125, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5413823564254645, "mutual_information": 1.5413823564254645, "normalized_mutual_information": 0.6348052143880293, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5179575422350071, "mutual_information": 1.5179575422350071, "normalized_mutual_information": 0.6297348239668887, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5625619056901385, "mutual_information": 1.5625619056901385, "normalized_mutual_information": 0.6458080399195075, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.125 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5682680825612731, "mutual_information": 1.5682680825612731, "normalized_mutual_information": 0.6461053049905655, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5756868801684265, "mutual_information": 1.5756868801684265, "normalized_mutual_information": 0.6485353254361654, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.05, 0.05 ], "objective": 1.5181915277995657, "mutual_information": 1.5181915277995657, "normalized_mutual_information": 0.6294946646374333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.05, 0.05 ], "objective": 1.5592156291218948, "mutual_information": 1.5592156291218948, "normalized_mutual_information": 0.6426909675563296, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.5063389398600247, "mutual_information": 1.5063389398600247, "normalized_mutual_information": 0.6225776126930122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.05 ], "objective": 1.5385441775608604, "mutual_information": 1.5385441775608604, "normalized_mutual_information": 0.6357794971619023, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.5626589551905987, "mutual_information": 1.5626589551905987, "normalized_mutual_information": 0.6446359718641324, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.1 ], "objective": 1.559981936307113, "mutual_information": 1.559981936307113, "normalized_mutual_information": 0.6442705555576468, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ 0.9375, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5610371056582732, "mutual_information": 1.5610371056582732, "normalized_mutual_information": 0.6429589756963056, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ 1.0625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.561584928817344, "mutual_information": 1.561584928817344, "normalized_mutual_information": 0.6418577329549482, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ 1.0, -0.6875, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5465841065780914, "mutual_information": 1.5465841065780914, "normalized_mutual_information": 0.6378759213997376, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ 1.0, -0.5625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.566386434821111, "mutual_information": 1.566386434821111, "normalized_mutual_information": 0.6442871706150689, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.1875 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5741546323257645, "mutual_information": 1.5741546323257645, "normalized_mutual_information": 0.6484856893138039, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.3125 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.570357499533716, "mutual_information": 1.570357499533716, "normalized_mutual_information": 0.64571698761095, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.125, -0.05, 0.05 ], "objective": 1.548868986288878, "mutual_information": 1.548868986288878, "normalized_mutual_information": 0.6378846224704737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.07500000000000001, -0.05, 0.05 ], "objective": 1.5557020687953846, "mutual_information": 1.5557020687953846, "normalized_mutual_information": 0.6420686250267966, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.07500000000000001, 0.05 ], "objective": 1.540747548984256, "mutual_information": 1.540747548984256, "normalized_mutual_information": 0.6353608580961747, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.025, 0.05 ], "objective": 1.5601458683409526, "mutual_information": 1.5601458683409526, "normalized_mutual_information": 0.6427845248061195, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.025 ], "objective": 1.5642874884659672, "mutual_information": 1.5642874884659672, "normalized_mutual_information": 0.6440394343571468, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.07500000000000001 ], "objective": 1.561673983612834, "mutual_information": 1.561673983612834, "normalized_mutual_information": 0.6430249556876103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 230, "delta_rotation_deg_xyz": [ 0.96875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.567853340882887, "mutual_information": 1.567853340882887, "normalized_mutual_information": 0.6451795495487614, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ 1.03125, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.573881386861899, "mutual_information": 1.573881386861899, "normalized_mutual_information": 0.6462919139926407, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ 1.0, -0.65625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5651682063933154, "mutual_information": 1.5651682063933154, "normalized_mutual_information": 0.6428588084809732, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 233, "delta_rotation_deg_xyz": [ 1.0, -0.59375, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.560975340615385, "mutual_information": 1.560975340615385, "normalized_mutual_information": 0.6431806397128587, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.21875 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5771298710947221, "mutual_information": 1.5771298710947221, "normalized_mutual_information": 0.6488930740324289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 235, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.28125 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5743866141447367, "mutual_information": 1.5743866141447367, "normalized_mutual_information": 0.6471938089801698, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1125, -0.05, 0.05 ], "objective": 1.5637802544131112, "mutual_information": 1.5637802544131112, "normalized_mutual_information": 0.6428901191662579, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.05, 0.05 ], "objective": 1.5720626711092323, "mutual_information": 1.5720626711092323, "normalized_mutual_information": 0.6469857823856366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.0625, 0.05 ], "objective": 1.5725063713625076, "mutual_information": 1.5725063713625076, "normalized_mutual_information": 0.6474075123948418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.037500000000000006, 0.05 ], "objective": 1.5650182806304649, "mutual_information": 1.5650182806304649, "normalized_mutual_information": 0.644425300979579, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.037500000000000006 ], "objective": 1.5684417313396632, "mutual_information": 1.5684417313396632, "normalized_mutual_information": 0.6453270536937254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5782499682671765, "mutual_information": 1.5782499682671765, "normalized_mutual_information": 0.648483071017987, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 242, "delta_rotation_deg_xyz": [ 0.96875, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.574865284991735, "mutual_information": 1.574865284991735, "normalized_mutual_information": 0.6478216192692136, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 243, "delta_rotation_deg_xyz": [ 1.03125, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5709710610543821, "mutual_information": 1.5709710610543821, "normalized_mutual_information": 0.6454260352129588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 244, "delta_rotation_deg_xyz": [ 1.0, -0.65625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.561819528141435, "mutual_information": 1.561819528141435, "normalized_mutual_information": 0.6425596899902916, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 245, "delta_rotation_deg_xyz": [ 1.0, -0.59375, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5606803262084472, "mutual_information": 1.5606803262084472, "normalized_mutual_information": 0.6423816247336204, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 246, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.21875 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.569278886484292, "mutual_information": 1.569278886484292, "normalized_mutual_information": 0.6452944746046144, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 247, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.28125 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5735178627190696, "mutual_information": 1.5735178627190696, "normalized_mutual_information": 0.6467198355641911, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 248, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1125, -0.05, 0.0625 ], "objective": 1.5616541196513083, "mutual_information": 1.5616541196513083, "normalized_mutual_information": 0.6430812981904573, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 249, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.05, 0.0625 ], "objective": 1.5726246300208535, "mutual_information": 1.5726246300208535, "normalized_mutual_information": 0.6482069891959256, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 250, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.0625, 0.0625 ], "objective": 1.5654356157517775, "mutual_information": 1.5654356157517775, "normalized_mutual_information": 0.6447197505919142, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 251, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.037500000000000006, 0.0625 ], "objective": 1.5678673730761623, "mutual_information": 1.5678673730761623, "normalized_mutual_information": 0.6445262609109745, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 252, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05 ], "objective": 1.5759739652807443, "mutual_information": 1.5759739652807443, "normalized_mutual_information": 0.6472815918516055, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 253, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.075 ], "objective": 1.561673983612834, "mutual_information": 1.561673983612834, "normalized_mutual_information": 0.6430249556876103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 254, "delta_rotation_deg_xyz": [ 0.984375, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5772880027949963, "mutual_information": 1.5772880027949963, "normalized_mutual_information": 0.6491183738176441, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 255, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5701241146149583, "mutual_information": 1.5701241146149583, "normalized_mutual_information": 0.6451759246961345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 256, "delta_rotation_deg_xyz": [ 1.0, -0.640625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.573130938158408, "mutual_information": 1.573130938158408, "normalized_mutual_information": 0.6472252778310504, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 257, "delta_rotation_deg_xyz": [ 1.0, -0.609375, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5690216242928756, "mutual_information": 1.5690216242928756, "normalized_mutual_information": 0.6448653645150363, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 258, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.234375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5754689876856902, "mutual_information": 1.5754689876856902, "normalized_mutual_information": 0.647529042809202, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 259, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5735645131552995, "mutual_information": 1.5735645131552995, "normalized_mutual_information": 0.6468464635354759, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 260, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.05, 0.0625 ], "objective": 1.5700756822977262, "mutual_information": 1.5700756822977262, "normalized_mutual_information": 0.6457535542584601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 261, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.09375, -0.05, 0.0625 ], "objective": 1.5740473125723484, "mutual_information": 1.5740473125723484, "normalized_mutual_information": 0.6473092826576394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 262, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05625, 0.0625 ], "objective": 1.5690981282833258, "mutual_information": 1.5690981282833258, "normalized_mutual_information": 0.6456437842171213, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 263, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5786214041928854, "mutual_information": 1.5786214041928854, "normalized_mutual_information": 0.6492038052473658, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 264, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.05625 ], "objective": 1.577204089747332, "mutual_information": 1.577204089747332, "normalized_mutual_information": 0.6479322187045421, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 265, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.06875 ], "objective": 1.5754442915319984, "mutual_information": 1.5754442915319984, "normalized_mutual_information": 0.6479033395606855, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 266, "delta_rotation_deg_xyz": [ 0.984375, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5682973269936966, "mutual_information": 1.5682973269936966, "normalized_mutual_information": 0.6450192499472837, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 267, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5836230765959118, "mutual_information": 1.5836230765959118, "normalized_mutual_information": 0.6499058179615317, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 268, "delta_rotation_deg_xyz": [ 1.0, -0.640625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5723358184664897, "mutual_information": 1.5723358184664897, "normalized_mutual_information": 0.6471336787302441, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 269, "delta_rotation_deg_xyz": [ 1.0, -0.609375, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5731077017311257, "mutual_information": 1.5731077017311257, "normalized_mutual_information": 0.6475323132118371, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 270, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.234375 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.580933832816747, "mutual_information": 1.580933832816747, "normalized_mutual_information": 0.6500278270346431, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 271, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5769637314295888, "mutual_information": 1.5769637314295888, "normalized_mutual_information": 0.6479575265446346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 272, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.043750000000000004, 0.0625 ], "objective": 1.5716788995721975, "mutual_information": 1.5716788995721975, "normalized_mutual_information": 0.6463368139266311, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 273, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.09375, -0.043750000000000004, 0.0625 ], "objective": 1.5744419951747786, "mutual_information": 1.5744419951747786, "normalized_mutual_information": 0.6477316305377231, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 274, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5782499682671765, "mutual_information": 1.5782499682671765, "normalized_mutual_information": 0.648483071017987, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 275, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.037500000000000006, 0.0625 ], "objective": 1.5678673730761623, "mutual_information": 1.5678673730761623, "normalized_mutual_information": 0.6445262609109745, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 276, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.05625 ], "objective": 1.5790868191224139, "mutual_information": 1.5790868191224139, "normalized_mutual_information": 0.6489482733059893, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 277, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.06875 ], "objective": 1.575440465000917, "mutual_information": 1.575440465000917, "normalized_mutual_information": 0.6480308017369673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 278, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5786214041928854, "mutual_information": 1.5786214041928854, "normalized_mutual_information": 0.6492038052473658, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 279, "delta_rotation_deg_xyz": [ 1.03125, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5811170507020627, "mutual_information": 1.5811170507020627, "normalized_mutual_information": 0.6494388451713123, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 280, "delta_rotation_deg_xyz": [ 1.015625, -0.640625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.577094538901174, "mutual_information": 1.577094538901174, "normalized_mutual_information": 0.6479777639211096, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 281, "delta_rotation_deg_xyz": [ 1.015625, -0.609375, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5757996565133883, "mutual_information": 1.5757996565133883, "normalized_mutual_information": 0.6469218539293329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 282, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.234375 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5783922178516203, "mutual_information": 1.5783922178516203, "normalized_mutual_information": 0.6482220022335836, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 283, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.584657493460239, "mutual_information": 1.584657493460239, "normalized_mutual_information": 0.6507936764264938, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 284, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.043750000000000004, 0.0625 ], "objective": 1.5776614068639774, "mutual_information": 1.5776614068639774, "normalized_mutual_information": 0.647568724037939, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 285, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.09375, -0.043750000000000004, 0.0625 ], "objective": 1.5772494513405604, "mutual_information": 1.5772494513405604, "normalized_mutual_information": 0.6475401123718523, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 286, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5701241146149583, "mutual_information": 1.5701241146149583, "normalized_mutual_information": 0.6451759246961345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 287, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.037500000000000006, 0.0625 ], "objective": 1.5765314346000139, "mutual_information": 1.5765314346000139, "normalized_mutual_information": 0.6474902876367247, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 288, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.05625 ], "objective": 1.5806944250467307, "mutual_information": 1.5806944250467307, "normalized_mutual_information": 0.6496025917950475, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 289, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.06875 ], "objective": 1.580696023684873, "mutual_information": 1.580696023684873, "normalized_mutual_information": 0.649434725642979, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 290, "delta_rotation_deg_xyz": [ 1.0, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5769637314295888, "mutual_information": 1.5769637314295888, "normalized_mutual_information": 0.6479575265446346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 291, "delta_rotation_deg_xyz": [ 1.03125, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5837335629633078, "mutual_information": 1.5837335629633078, "normalized_mutual_information": 0.6492586593332376, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 292, "delta_rotation_deg_xyz": [ 1.015625, -0.640625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5766247446494692, "mutual_information": 1.5766247446494692, "normalized_mutual_information": 0.6482669357743338, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 293, "delta_rotation_deg_xyz": [ 1.015625, -0.609375, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5753685957088124, "mutual_information": 1.5753685957088124, "normalized_mutual_information": 0.6473595664389277, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 294, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.5836230765959118, "mutual_information": 1.5836230765959118, "normalized_mutual_information": 0.6499058179615317, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 295, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.28125 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.0625 ], "objective": 1.578402894754942, "mutual_information": 1.578402894754942, "normalized_mutual_information": 0.6485103593653156, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 296, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.043750000000000004, 0.0625 ], "objective": 1.5733532348425578, "mutual_information": 1.5733532348425578, "normalized_mutual_information": 0.6463472493491632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 297, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.09375, -0.043750000000000004, 0.0625 ], "objective": 1.5781738748049339, "mutual_information": 1.5781738748049339, "normalized_mutual_information": 0.6487059569005161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 298, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0625 ], "objective": 1.5732695303781323, "mutual_information": 1.5732695303781323, "normalized_mutual_information": 0.6460331411753529, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 299, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.037500000000000006, 0.0625 ], "objective": 1.574531819625504, "mutual_information": 1.574531819625504, "normalized_mutual_information": 0.6469406139404468, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 300, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.05625 ], "objective": 1.5775946814677682, "mutual_information": 1.5775946814677682, "normalized_mutual_information": 0.6480437407849091, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 301, "delta_rotation_deg_xyz": [ 1.015625, -0.625, 0.265625 ], "delta_translation_m_xyz": [ -0.1, -0.043750000000000004, 0.06875 ], "objective": 1.578788760221011, "mutual_information": 1.578788760221011, "normalized_mutual_information": 0.6490677861109337, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 301, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.441127147853632, "translation_m": 0.20048768665431801, "recovered": false }, "mi_seconds": 0.6786989939864725, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.576432434335252, "translation_m": 0.25807858464350864, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.2818664816132532, "archived_cost": 1041.1024882071542, "common_supported": 1209, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1092.5339979358882, "supported_cost": 114.42344080514235, "signed_quantiles_m": [ -68.00258872572988, -1.5005510836316565, -0.08720673612447616, 0.34340340805427444, 26.626196877326407 ], "negative_fraction": 0.6412162162162162, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 76.2988070998162 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1081.7766355516083, "supported_cost": 103.66607842086204, "signed_quantiles_m": [ -67.72072224411663, -1.2186846020184032, 0.19465974548877701, 0.6252698896675277, 26.90806335893966 ], "negative_fraction": 0.34864864864864864, "absolute_over_1m_fraction": 0.1912162162162162, "common_support_cost": 66.93311221005243 }, "fit_zero": { "total": 12288, "supported": 1378, "cost": 1047.8514136418473, "supported_cost": 60.50998337755788, "signed_quantiles_m": [ -37.48923392432921, -0.7200625455461012, 1.00336891413043, 4.794947408621544, 58.71634635385256 ], "negative_fraction": 0.2808417997097242, "absolute_over_1m_fraction": 0.5747460087082729, "common_support_cost": 55.90861453134859 }, "fit_fitted_bias": { "total": 12288, "supported": 1378, "cost": 1041.1024882071545, "supported_cost": 53.76105794286505, "signed_quantiles_m": [ -37.20736744271596, -0.43819606393284793, 1.2852353957436833, 5.0768138902347975, 58.99821283546581 ], "negative_fraction": 0.18940493468795355, "absolute_over_1m_fraction": 0.6611030478955007, "common_support_cost": 49.663190353061744 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.499120955339934, "translation_m": 0.10965898245057319, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.038635772033273015, "archived_cost": 1086.8209098815269, "common_supported": 1183, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 73.31515512536791 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1090.9905921568093, "supported_cost": 112.88003502606304, "signed_quantiles_m": [ -67.9639529536966, -1.4704657211074397, -0.044675930647425637, 0.38812705930198105, 26.578243142912246 ], "negative_fraction": 0.5655405405405406, "absolute_over_1m_fraction": 0.20405405405405405, "common_support_cost": 71.44896859521184 }, "fit_zero": { "total": 12288, "supported": 1359, "cost": 1087.9506194120893, "supported_cost": 98.88971277978678, "signed_quantiles_m": [ -48.633334395909316, -1.1075641827377594, 0.9782701358848467, 4.639527063389597, 58.69299250529791 ], "negative_fraction": 0.27225901398086827, "absolute_over_1m_fraction": 0.5982339955849889, "common_support_cost": 90.59827253086654 }, "fit_fitted_bias": { "total": 12288, "supported": 1359, "cost": 1086.8209098815273, "supported_cost": 97.76000324922472, "signed_quantiles_m": [ -48.59469862387604, -1.0689284107044863, 1.0169059079181197, 4.67816283542287, 58.73162827733118 ], "negative_fraction": 0.26048565121412803, "absolute_over_1m_fraction": 0.6114790286975718, "common_support_cost": 89.5586658878495 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.499120955339934, "translation_m": 0.10965898245057319, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1077.0644134046204, "common_supported": 1183, "states": { "reference_zero": { "total": 12288, "supported": 1480, "cost": 1093.2036683967594, "supported_cost": 115.09311126601324, "signed_quantiles_m": [ -68.00258872572988, -1.5091014931407127, -0.08331170268069865, 0.34949128726870804, 26.539607370878972 ], "negative_fraction": 0.6371621621621621, "absolute_over_1m_fraction": 0.2087837837837838, "common_support_cost": 73.31515512536791 }, "reference_fitted_bias": { "total": 12288, "supported": 1480, "cost": 1076.5676031415926, "supported_cost": 98.45704601084647, "signed_quantiles_m": [ -67.50258925465826, -1.0091020220690912, 0.41668776839092286, 0.8494907583403296, 27.039606841950594 ], "negative_fraction": 0.25675675675675674, "absolute_over_1m_fraction": 0.18986486486486487, "common_support_cost": 59.76398138415492 }, "fit_zero": { "total": 12288, "supported": 1359, "cost": 1087.9506194120893, "supported_cost": 98.88971277978678, "signed_quantiles_m": [ -48.633334395909316, -1.1075641827377594, 0.9782701358848467, 4.639527063389597, 58.69299250529791 ], "negative_fraction": 0.27225901398086827, "absolute_over_1m_fraction": 0.5982339955849889, "common_support_cost": 90.59827253086654 }, "fit_fitted_bias": { "total": 12288, "supported": 1359, "cost": 1077.0644134046204, "supported_cost": 88.0035067723179, "signed_quantiles_m": [ -48.1333349248377, -0.6075647116661377, 1.4782696069564683, 5.139526534461218, 59.19299197636953 ], "negative_fraction": 0.16188373804267844, "absolute_over_1m_fraction": 0.7350993377483444, "common_support_cost": 80.62122878722761 } } } ] }, { "case_id": "2011_09_28_0002-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.13809494613377218, -0.11143906975279111, -0.27756798283289785 ], "rotation_quat_xyzw": [ -0.4999919748121529, 0.5113596157880606, -0.4979294185519901, -0.49049532373408783 ] }, "transform_camera_lidar": { "translation_m": [ 0.1505949461337722, 0.0885609302472089, -0.37756798283289783 ], "rotation_quat_xyzw": [ -0.5010477072886972, 0.5103088953156439, -0.4946669276926434, -0.493802244860823 ] }, "best_delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "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": 1.5100815646118058, "normalized_mutual_information": 0.5597702320259809, "visible_point_count": 1730, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.468693526917935, "normalized_mutual_information": 0.5543682296275116, "visible_point_count": 550, "projected_count_before_visibility": 687 }, { "frame_id": "frame-187", "mutual_information": 1.5250052765151336, "normalized_mutual_information": 0.5665709006586426, "visible_point_count": 589, "projected_count_before_visibility": 719 }, { "frame_id": "frame-281", "mutual_information": 1.5365458904023481, "normalized_mutual_information": 0.5583715657917885, "visible_point_count": 591, "projected_count_before_visibility": 722 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.720083728333248, "normalized_mutual_information": 0.6380546520944164, "visible_point_count": 1580, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.6851912451923599, "normalized_mutual_information": 0.6442160124258545, "visible_point_count": 494, "projected_count_before_visibility": 612 }, { "frame_id": "frame-187", "mutual_information": 1.7414753744518636, "normalized_mutual_information": 0.6388423679362019, "visible_point_count": 546, "projected_count_before_visibility": 646 }, { "frame_id": "frame-281", "mutual_information": 1.7335845653555202, "normalized_mutual_information": 0.6311055759211928, "visible_point_count": 540, "projected_count_before_visibility": 649 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5100815646118058, "mutual_information": 1.5100815646118058, "normalized_mutual_information": 0.5597702320259809, "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": 1.5322079442299785, "mutual_information": 1.5322079442299785, "normalized_mutual_information": 0.5688542592738278, "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": 1.4579464938941615, "mutual_information": 1.4579464938941615, "normalized_mutual_information": 0.5416908295728557, "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": 1.503944342381277, "mutual_information": 1.503944342381277, "normalized_mutual_information": 0.5572849330965566, "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": 1.5138422007417869, "mutual_information": 1.5138422007417869, "normalized_mutual_information": 0.5645660921271033, "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": 1.531162451662392, "mutual_information": 1.531162451662392, "normalized_mutual_information": 0.5663540678521265, "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": 1.456788685707444, "mutual_information": 1.456788685707444, "normalized_mutual_information": 0.5403247308540603, "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": 1.4970867211449237, "mutual_information": 1.4970867211449237, "normalized_mutual_information": 0.5564835531388439, "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": 1.5093379332635675, "mutual_information": 1.5093379332635675, "normalized_mutual_information": 0.5619565862395249, "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": 1.4488108867367664, "mutual_information": 1.4488108867367664, "normalized_mutual_information": 0.537391002531921, "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": 1.580879552338479, "mutual_information": 1.580879552338479, "normalized_mutual_information": 0.5879385765439418, "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": 1.512453342007996, "mutual_information": 1.512453342007996, "normalized_mutual_information": 0.5599252758292339, "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": 1.4964939760982972, "mutual_information": 1.4964939760982972, "normalized_mutual_information": 0.5572052045942253, "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": 1.6211324103153473, "mutual_information": 1.6211324103153473, "normalized_mutual_information": 0.6058192239099008, "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": 1.527092723979399, "mutual_information": 1.527092723979399, "normalized_mutual_information": 0.5658389712205717, "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": 1.5589740176951956, "mutual_information": 1.5589740176951956, "normalized_mutual_information": 0.5785442143257234, "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": 1.5744799261316824, "mutual_information": 1.5744799261316824, "normalized_mutual_information": 0.5882207246093399, "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": 1.5915386047600266, "mutual_information": 1.5915386047600266, "normalized_mutual_information": 0.5920324399904772, "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": 1.5427574009015073, "mutual_information": 1.5427574009015073, "normalized_mutual_information": 0.5738404834985674, "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": 1.566156746421254, "mutual_information": 1.566156746421254, "normalized_mutual_information": 0.5798384881019647, "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": 1.5740263124328377, "mutual_information": 1.5740263124328377, "normalized_mutual_information": 0.587637933730324, "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": 1.5100815646118058, "mutual_information": 1.5100815646118058, "normalized_mutual_information": 0.5597702320259809, "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": 1.6364846771380421, "mutual_information": 1.6364846771380421, "normalized_mutual_information": 0.6085691017449743, "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": 1.606390356257135, "mutual_information": 1.606390356257135, "normalized_mutual_information": 0.5972760196357634, "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": 1.5380190441228256, "mutual_information": 1.5380190441228256, "normalized_mutual_information": 0.5726919579511094, "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": 1.6671631940502014, "mutual_information": 1.6671631940502014, "normalized_mutual_information": 0.620498035057635, "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": 1.625688425864667, "mutual_information": 1.625688425864667, "normalized_mutual_information": 0.60298466765071, "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": 1.6236565693153058, "mutual_information": 1.6236565693153058, "normalized_mutual_information": 0.6030668734907412, "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": 1.6754970449548567, "mutual_information": 1.6754970449548567, "normalized_mutual_information": 0.6242048648599012, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6752897857602942, "mutual_information": 1.6752897857602942, "normalized_mutual_information": 0.6216887331862438, "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": 1.616781754639197, "mutual_information": 1.616781754639197, "normalized_mutual_information": 0.6014595983002158, "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": 1.6222870375828145, "mutual_information": 1.6222870375828145, "normalized_mutual_information": 0.6019596858063944, "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": 1.6662432793764985, "mutual_information": 1.6662432793764985, "normalized_mutual_information": 0.6203868580463451, "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": 1.580879552338479, "mutual_information": 1.580879552338479, "normalized_mutual_information": 0.5879385765439418, "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": 1.62903881310697, "mutual_information": 1.62903881310697, "normalized_mutual_information": 0.6070679790832963, "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": 1.6474029213187154, "mutual_information": 1.6474029213187154, "normalized_mutual_information": 0.6120854660133063, "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": 1.6301763510393183, "mutual_information": 1.6301763510393183, "normalized_mutual_information": 0.607786072488914, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6737019016914079, "mutual_information": 1.6737019016914079, "normalized_mutual_information": 0.6241712484442141, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6308888943780098, "mutual_information": 1.6308888943780098, "normalized_mutual_information": 0.6095974510117408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6364846771380421, "mutual_information": 1.6364846771380421, "normalized_mutual_information": 0.6085691017449743, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.0, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6786096313188086, "mutual_information": 1.6786096313188086, "normalized_mutual_information": 0.6262913710704806, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6860169527829367, "mutual_information": 1.6860169527829367, "normalized_mutual_information": 0.6274729997891464, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6327651129066807, "mutual_information": 1.6327651129066807, "normalized_mutual_information": 0.6115205725064069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.6244878246664098, "mutual_information": 1.6244878246664098, "normalized_mutual_information": 0.6056419786242243, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.6750400314877674, "mutual_information": 1.6750400314877674, "normalized_mutual_information": 0.6247298492924394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5744799261316824, "mutual_information": 1.5744799261316824, "normalized_mutual_information": 0.5882207246093399, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.6507889318294549, "mutual_information": 1.6507889318294549, "normalized_mutual_information": 0.613596576516692, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.665056430329401, "mutual_information": 1.665056430329401, "normalized_mutual_information": 0.6199266215817058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.6688368651899088, "mutual_information": 1.6688368651899088, "normalized_mutual_information": 0.6222826192237095, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.689556186530113, "mutual_information": 1.689556186530113, "normalized_mutual_information": 0.6304109724650545, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.661995930415345, "mutual_information": 1.661995930415345, "normalized_mutual_information": 0.6208811127593242, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6752897857602942, "mutual_information": 1.6752897857602942, "normalized_mutual_information": 0.6216887331862438, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.701996663864766, "mutual_information": 1.701996663864766, "normalized_mutual_information": 0.6345780760883261, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6965195756785054, "mutual_information": 1.6965195756785054, "normalized_mutual_information": 0.6303009327303708, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6754970449548567, "mutual_information": 1.6754970449548567, "normalized_mutual_information": 0.6242048648599012, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.6586870041991364, "mutual_information": 1.6586870041991364, "normalized_mutual_information": 0.6165816698615686, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.6978296596543265, "mutual_information": 1.6978296596543265, "normalized_mutual_information": 0.6334817434039824, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5996145030013185, "mutual_information": 1.5996145030013185, "normalized_mutual_information": 0.5983259337125157, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.6614838752996988, "mutual_information": 1.6614838752996988, "normalized_mutual_information": 0.618677879992045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6939882026468969, "mutual_information": 1.6939882026468969, "normalized_mutual_information": 0.6291903241512206, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.6769373988544054, "mutual_information": 1.6769373988544054, "normalized_mutual_information": 0.6251607951743811, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7072832682613466, "mutual_information": 1.7072832682613466, "normalized_mutual_information": 0.6397095837163064, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6695761288812179, "mutual_information": 1.6695761288812179, "normalized_mutual_information": 0.62326561151333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6860169527829367, "mutual_information": 1.6860169527829367, "normalized_mutual_information": 0.6274729997891464, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.75, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7099517361617098, "mutual_information": 1.7099517361617098, "normalized_mutual_information": 0.6361661289480619, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6957338564278122, "mutual_information": 1.6957338564278122, "normalized_mutual_information": 0.6321399325635529, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6786096313188086, "mutual_information": 1.6786096313188086, "normalized_mutual_information": 0.6262913710704806, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.697009869269899, "mutual_information": 1.697009869269899, "normalized_mutual_information": 0.6303611034212161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.6821608966783543, "mutual_information": 1.6821608966783543, "normalized_mutual_information": 0.625560050010962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6234837683766532, "mutual_information": 1.6234837683766532, "normalized_mutual_information": 0.6059394443661067, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.6790093894545972, "mutual_information": 1.6790093894545972, "normalized_mutual_information": 0.6277784932349094, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7196538392357281, "mutual_information": 1.7196538392357281, "normalized_mutual_information": 0.6379473528354964, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.6909769097571636, "mutual_information": 1.6909769097571636, "normalized_mutual_information": 0.6310345583709174, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6952843095773096, "mutual_information": 1.6952843095773096, "normalized_mutual_information": 0.6316660137377407, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6705030037478885, "mutual_information": 1.6705030037478885, "normalized_mutual_information": 0.6212837611812404, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6939882026468969, "mutual_information": 1.6939882026468969, "normalized_mutual_information": 0.6291903241512206, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.75, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7093299425370951, "mutual_information": 1.7093299425370951, "normalized_mutual_information": 0.6347823815845989, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6953801549974585, "mutual_information": 1.6953801549974585, "normalized_mutual_information": 0.6311538386852331, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6800497191089772, "mutual_information": 1.6800497191089772, "normalized_mutual_information": 0.6234038198656732, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.2, -0.1 ], "objective": 1.6853034411947132, "mutual_information": 1.6853034411947132, "normalized_mutual_information": 0.6261725190571482, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.1 ], "objective": 1.6948514578622138, "mutual_information": 1.6948514578622138, "normalized_mutual_information": 0.6278325637589592, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.6437042294574855, "mutual_information": 1.6437042294574855, "normalized_mutual_information": 0.613504086751187, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.675897617563412, "mutual_information": 1.675897617563412, "normalized_mutual_information": 0.6215579889247009, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.2 ], "objective": 1.6949704293490597, "mutual_information": 1.6949704293490597, "normalized_mutual_information": 0.6282660539179323, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.701996663864766, "mutual_information": 1.701996663864766, "normalized_mutual_information": 0.6345780760883261, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.708128848318476, "mutual_information": 1.708128848318476, "normalized_mutual_information": 0.6342885917648934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6916692253447387, "mutual_information": 1.6916692253447387, "normalized_mutual_information": 0.6307193920010571, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.0, 0.375, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6908905675524295, "mutual_information": 1.6908905675524295, "normalized_mutual_information": 0.6293155243625339, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.0, 0.625, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7047880522632504, "mutual_information": 1.7047880522632504, "normalized_mutual_information": 0.6327249121453146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.375 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.699809684093748, "mutual_information": 1.699809684093748, "normalized_mutual_information": 0.6321727514418208, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6919227082558574, "mutual_information": 1.6919227082558574, "normalized_mutual_information": 0.6281407439726717, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.05, 0.2, -0.1 ], "objective": 1.694456138843724, "mutual_information": 1.694456138843724, "normalized_mutual_information": 0.6309140326943568, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.05, 0.2, -0.1 ], "objective": 1.6993469953049718, "mutual_information": 1.6993469953049718, "normalized_mutual_information": 0.6300436590392829, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.15000000000000002, -0.1 ], "objective": 1.6888066305748584, "mutual_information": 1.6888066305748584, "normalized_mutual_information": 0.6290120052671556, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.25, -0.1 ], "objective": 1.6931706002121218, "mutual_information": 1.6931706002121218, "normalized_mutual_information": 0.6278596126797304, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.15000000000000002 ], "objective": 1.7042167522457, "mutual_information": 1.7042167522457, "normalized_mutual_information": 0.6321100356761006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.05 ], "objective": 1.7018736079154027, "mutual_information": 1.7018736079154027, "normalized_mutual_information": 0.6339191361549718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.0625, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7098045016635692, "mutual_information": 1.7098045016635692, "normalized_mutual_information": 0.6351421637764908, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.0625, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7010071973590388, "mutual_information": 1.7010071973590388, "normalized_mutual_information": 0.633192453046942, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0, 0.4375, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6917026091983847, "mutual_information": 1.6917026091983847, "normalized_mutual_information": 0.6302483064457066, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0, 0.5625, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7137354339178785, "mutual_information": 1.7137354339178785, "normalized_mutual_information": 0.635519576440346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.3125 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6977803176516713, "mutual_information": 1.6977803176516713, "normalized_mutual_information": 0.6302366958455081, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.1875 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7040916114227753, "mutual_information": 1.7040916114227753, "normalized_mutual_information": 0.6323980394857013, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.025, 0.2, -0.1 ], "objective": 1.6990472922567879, "mutual_information": 1.6990472922567879, "normalized_mutual_information": 0.6331576281633792, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.025, 0.2, -0.1 ], "objective": 1.7125154315421323, "mutual_information": 1.7125154315421323, "normalized_mutual_information": 0.6359002322208346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.17500000000000002, -0.1 ], "objective": 1.6973012541870454, "mutual_information": 1.6973012541870454, "normalized_mutual_information": 0.6319803692134801, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.225, -0.1 ], "objective": 1.7116308504504998, "mutual_information": 1.7116308504504998, "normalized_mutual_information": 0.6340549324574477, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.125 ], "objective": 1.7100946991263555, "mutual_information": 1.7100946991263555, "normalized_mutual_information": 0.6340554497149151, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.07500000000000001 ], "objective": 1.7062202618947346, "mutual_information": 1.7062202618947346, "normalized_mutual_information": 0.6348367773479847, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -0.03125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6973677811245647, "mutual_information": 1.6973677811245647, "normalized_mutual_information": 0.6305844847648405, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.03125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7045937005807141, "mutual_information": 1.7045937005807141, "normalized_mutual_information": 0.6334252730408516, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.0, 0.46875, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.69884713312994, "mutual_information": 1.69884713312994, "normalized_mutual_information": 0.6325326275682843, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.0, 0.53125, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7135838913829515, "mutual_information": 1.7135838913829515, "normalized_mutual_information": 0.6357205454009222, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.28125 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7043746934648472, "mutual_information": 1.7043746934648472, "normalized_mutual_information": 0.6327410137715742, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.21875 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7099452645285655, "mutual_information": 1.7099452645285655, "normalized_mutual_information": 0.6348248961297863, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.0125, 0.2, -0.1 ], "objective": 1.7062252135646367, "mutual_information": 1.7062252135646367, "normalized_mutual_information": 0.6344693792731694, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.720083728333248, "mutual_information": 1.720083728333248, "normalized_mutual_information": 0.6380546520944164, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1875, -0.1 ], "objective": 1.7104908724275523, "mutual_information": 1.7104908724275523, "normalized_mutual_information": 0.6353279541533784, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.21250000000000002, -0.1 ], "objective": 1.7005415959256103, "mutual_information": 1.7005415959256103, "normalized_mutual_information": 0.6305865343825238, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1125 ], "objective": 1.7196670318742637, "mutual_information": 1.7196670318742637, "normalized_mutual_information": 0.6379981807356452, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.08750000000000001 ], "objective": 1.7087821331967354, "mutual_information": 1.7087821331967354, "normalized_mutual_information": 0.6344524424197514, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.03125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.6920068152976198, "mutual_information": 1.6920068152976198, "normalized_mutual_information": 0.6284509862527626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.03125, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7008163779994867, "mutual_information": 1.7008163779994867, "normalized_mutual_information": 0.6319063967130019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.0, 0.46875, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7117702761089557, "mutual_information": 1.7117702761089557, "normalized_mutual_information": 0.6359375854959292, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.0, 0.53125, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7118107961955218, "mutual_information": 1.7118107961955218, "normalized_mutual_information": 0.6351105175509938, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.28125 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7020042505366126, "mutual_information": 1.7020042505366126, "normalized_mutual_information": 0.6319426776298723, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.21875 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7092142992460528, "mutual_information": 1.7092142992460528, "normalized_mutual_information": 0.6343764930429102, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7196538392357281, "mutual_information": 1.7196538392357281, "normalized_mutual_information": 0.6379473528354964, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.025, 0.2, -0.1 ], "objective": 1.7125154315421323, "mutual_information": 1.7125154315421323, "normalized_mutual_information": 0.6359002322208346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.1875, -0.1 ], "objective": 1.7065867950900433, "mutual_information": 1.7065867950900433, "normalized_mutual_information": 0.6335069661927103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.21250000000000002, -0.1 ], "objective": 1.699159749579054, "mutual_information": 1.699159749579054, "normalized_mutual_information": 0.6297126227742865, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1125 ], "objective": 1.7195030794894113, "mutual_information": 1.7195030794894113, "normalized_mutual_information": 0.6382306267617274, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.08750000000000001 ], "objective": 1.7086256490134601, "mutual_information": 1.7086256490134601, "normalized_mutual_information": 0.6340355176743967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.015625, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7049848618263521, "mutual_information": 1.7049848618263521, "normalized_mutual_information": 0.6329102388970022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.015625, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7112034940243266, "mutual_information": 1.7112034940243266, "normalized_mutual_information": 0.6348412839445805, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.0, 0.484375, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7168279600716714, "mutual_information": 1.7168279600716714, "normalized_mutual_information": 0.6370914258310062, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.0, 0.515625, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7170485292838602, "mutual_information": 1.7170485292838602, "normalized_mutual_information": 0.6371264514564889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.265625 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.7126255731344615, "mutual_information": 1.7126255731344615, "normalized_mutual_information": 0.6352532268012279, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.234375 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.1 ], "objective": 1.717052935826444, "mutual_information": 1.717052935826444, "normalized_mutual_information": 0.6369770438719883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.00625, 0.2, -0.1 ], "objective": 1.7195203848373406, "mutual_information": 1.7195203848373406, "normalized_mutual_information": 0.6377880807305866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.018750000000000003, 0.2, -0.1 ], "objective": 1.7142160945337572, "mutual_information": 1.7142160945337572, "normalized_mutual_information": 0.6365518781083469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.19375, -0.1 ], "objective": 1.7092089499901064, "mutual_information": 1.7092089499901064, "normalized_mutual_information": 0.6343065912542563, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.20625000000000002, -0.1 ], "objective": 1.7065937647531044, "mutual_information": 1.7065937647531044, "normalized_mutual_information": 0.6330663062967863, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.10625000000000001 ], "objective": 1.7176738130933114, "mutual_information": 1.7176738130933114, "normalized_mutual_information": 0.6374384980203774, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.2, -0.09375 ], "objective": 1.7155044307158966, "mutual_information": 1.7155044307158966, "normalized_mutual_information": 0.6360953337470597, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 145, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 1.1503993407251207, "translation_m": 0.19405218370325034, "recovered": false }, "mi_seconds": 0.3738233339972794, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.8708843663123185, "translation_m": 0.5044020568553397, "recovered": false }, "archived_accepted": false, "fitted_bias_m": 0.45158086115667784, "archived_cost": 1017.7799021639473, "common_supported": 1297, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.2828011461716, "supported_cost": 103.84658356667157, "signed_quantiles_m": [ -37.62948791650167, -2.0318602229825355, -0.06784502213121968, 0.23944359920782404, 35.66514420564939 ], "negative_fraction": 0.6121814791796146, "absolute_over_1m_fraction": 0.23368551895587322, "common_support_cost": 92.91056823134556 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1056.0437327390246, "supported_cost": 89.60751515952444, "signed_quantiles_m": [ -37.17790705534499, -1.580279361825858, 0.38373583902545816, 0.6910244603645018, 36.11672506680607 ], "negative_fraction": 0.25730267246737104, "absolute_over_1m_fraction": 0.2069608452454941, "common_support_cost": 77.63176888349315 }, "fit_zero": { "total": 12288, "supported": 1415, "cost": 1020.8168588975168, "supported_cost": 36.82388261304203, "signed_quantiles_m": [ -21.55031816308143, 0.74005962341206, 3.1482627146839395, 11.335261831428962, 50.48187055206003 ], "negative_fraction": 0.07279151943462897, "absolute_over_1m_fraction": 0.927208480565371, "common_support_cost": 31.65865648796231 }, "fit_fitted_bias": { "total": 12288, "supported": 1415, "cost": 1017.7799021639473, "supported_cost": 33.786925879472584, "signed_quantiles_m": [ -21.09873730192475, 1.1916404845687378, 3.5998435758406173, 11.78684269258564, 50.93345141321671 ], "negative_fraction": 0.04452296819787986, "absolute_over_1m_fraction": 0.9279151943462898, "common_support_cost": 29.04763900139843 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.3215755994562164, "translation_m": 0.5062461809539699, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.23709649514540984, "archived_cost": 1056.3727657692746, "common_supported": 1532, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 95.89890673961521 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1061.8035564035754, "supported_cost": 95.36733882407536, "signed_quantiles_m": [ -37.27066027296, -1.851621717179181, 0.17175443496357054, 0.4998015177750404, 35.9022407007948 ], "negative_fraction": 0.3325046612802983, "absolute_over_1m_fraction": 0.21690490988191424, "common_support_cost": 87.6141032076599 }, "fit_zero": { "total": 12288, "supported": 1697, "cost": 1061.1745375671292, "supported_cost": 102.70221053421541, "signed_quantiles_m": [ -31.424422730930715, -1.3092505345144445, 0.42367437634028704, 1.5874734321724464, 50.838098704993556 ], "negative_fraction": 0.20153211549793754, "absolute_over_1m_fraction": 0.23688862698880378, "common_support_cost": 90.50295080229951 }, "fit_fitted_bias": { "total": 12288, "supported": 1697, "cost": 1056.3727657692746, "supported_cost": 97.90043873636081, "signed_quantiles_m": [ -31.187326235785306, -1.0721540393690348, 0.6607708714856969, 1.8245699273178562, 51.075195200138964 ], "negative_fraction": 0.1567472009428403, "absolute_over_1m_fraction": 0.2545668827342369, "common_support_cost": 86.33372588483567 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.3215755994562164, "translation_m": 0.5062461809539699, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1051.4447402157903, "common_supported": 1532, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 95.89890673961521 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1055.005307495515, "supported_cost": 88.56908991601486, "signed_quantiles_m": [ -37.00775729703379, -1.588718741252969, 0.4346574108897822, 0.7627044937012522, 36.16514367672101 ], "negative_fraction": 0.2399005593536358, "absolute_over_1m_fraction": 0.20820385332504662, "common_support_cost": 81.10994768770277 }, "fit_zero": { "total": 12288, "supported": 1697, "cost": 1061.1745375671292, "supported_cost": 102.70221053421541, "signed_quantiles_m": [ -31.424422730930715, -1.3092505345144445, 0.42367437634028704, 1.5874734321724464, 50.838098704993556 ], "negative_fraction": 0.20153211549793754, "absolute_over_1m_fraction": 0.23688862698880378, "common_support_cost": 90.50295080229951 }, "fit_fitted_bias": { "total": 12288, "supported": 1697, "cost": 1051.4447402157903, "supported_cost": 92.97241318287661, "signed_quantiles_m": [ -30.924423259859093, -0.8092510634428228, 0.9236738474119086, 2.087472903244068, 51.338098176065174 ], "negative_fraction": 0.13317619328226282, "absolute_over_1m_fraction": 0.44195639363582795, "common_support_cost": 81.95985449728815 } } } ] }, { "case_id": "2011_09_28_0002-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.03809494613377218, -0.061439069752791106, -0.32756798283289784 ], "rotation_quat_xyzw": [ -0.49770621913736923, 0.504909769809524, -0.4958469258688129, -0.5014882549864221 ] }, "transform_camera_lidar": { "translation_m": [ 0.03809494613377218, -0.06768906975279111, -0.5150679828328979 ], "rotation_quat_xyzw": [ 0.49662326536268947, -0.5060026449971141, 0.49693157150866035, 0.500385520168557 ] }, "best_delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "best_delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.7551492107379445, "normalized_mutual_information": 0.6615855898596119, "visible_point_count": 1642, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.6910668064694847, "normalized_mutual_information": 0.6517967309488433, "visible_point_count": 520, "projected_count_before_visibility": 624 }, { "frame_id": "frame-187", "mutual_information": 1.7570074590398614, "normalized_mutual_information": 0.661070140601353, "visible_point_count": 560, "projected_count_before_visibility": 660 }, { "frame_id": "frame-281", "mutual_information": 1.8173733667044876, "normalized_mutual_information": 0.6718898980286394, "visible_point_count": 562, "projected_count_before_visibility": 662 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.7883027905506805, "normalized_mutual_information": 0.6689306292718978, "visible_point_count": 1586, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.7490220789598965, "normalized_mutual_information": 0.6655388475488098, "visible_point_count": 497, "projected_count_before_visibility": 611 }, { "frame_id": "frame-187", "mutual_information": 1.7762547681285143, "normalized_mutual_information": 0.6651591735474681, "visible_point_count": 542, "projected_count_before_visibility": 645 }, { "frame_id": "frame-281", "mutual_information": 1.8396315245636305, "normalized_mutual_information": 0.6760938667194156, "visible_point_count": 547, "projected_count_before_visibility": 643 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7551492107379445, "mutual_information": 1.7551492107379445, "normalized_mutual_information": 0.6615855898596119, "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": 1.7383172080563398, "mutual_information": 1.7383172080563398, "normalized_mutual_information": 0.6595785894758812, "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": 1.7321424579905766, "mutual_information": 1.7321424579905766, "normalized_mutual_information": 0.6520171700507778, "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": 1.773500390124636, "mutual_information": 1.773500390124636, "normalized_mutual_information": 0.664722189268304, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 5, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7301203455399918, "mutual_information": 1.7301203455399918, "normalized_mutual_information": 0.6566575561160951, "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": 1.7287318070763689, "mutual_information": 1.7287318070763689, "normalized_mutual_information": 0.65284685061511, "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": 1.745658241716475, "mutual_information": 1.745658241716475, "normalized_mutual_information": 0.6587512642591519, "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": 1.7684084810836926, "mutual_information": 1.7684084810836926, "normalized_mutual_information": 0.6637459177432938, "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": 1.7322092098749522, "mutual_information": 1.7322092098749522, "normalized_mutual_information": 0.6529660234893401, "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": 1.680308285113786, "mutual_information": 1.680308285113786, "normalized_mutual_information": 0.6338958219151838, "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": 1.699524703968209, "mutual_information": 1.699524703968209, "normalized_mutual_information": 0.639772294441585, "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": 1.7659098002996891, "mutual_information": 1.7659098002996891, "normalized_mutual_information": 0.6634864683403777, "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": 1.7557348018878711, "mutual_information": 1.7557348018878711, "normalized_mutual_information": 0.6662664689932655, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7347360398592613, "mutual_information": 1.7347360398592613, "normalized_mutual_information": 0.65899011431738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.724148464020571, "mutual_information": 1.724148464020571, "normalized_mutual_information": 0.648721061415681, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7422118554302504, "mutual_information": 1.7422118554302504, "normalized_mutual_information": 0.6550119444844945, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7551492107379445, "mutual_information": 1.7551492107379445, "normalized_mutual_information": 0.6615855898596119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7518420382157511, "mutual_information": 1.7518420382157511, "normalized_mutual_information": 0.6603067791672318, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7664516778024684, "mutual_information": 1.7664516778024684, "normalized_mutual_information": 0.6639152357978176, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.7586258750884687, "mutual_information": 1.7586258750884687, "normalized_mutual_information": 0.6590627088259202, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.7535003662770983, "mutual_information": 1.7535003662770983, "normalized_mutual_information": 0.6594137469139524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6826854716116484, "mutual_information": 1.6826854716116484, "normalized_mutual_information": 0.6333969444437291, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6933455306106417, "mutual_information": 1.6933455306106417, "normalized_mutual_information": 0.6376047133875347, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 24, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7762719790786956, "mutual_information": 1.7762719790786956, "normalized_mutual_information": 0.6647108551276809, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.766305695184282, "mutual_information": 1.766305695184282, "normalized_mutual_information": 0.6669535137401521, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7214706609788404, "mutual_information": 1.7214706609788404, "normalized_mutual_information": 0.6493365336018729, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.749480910175362, "mutual_information": 1.749480910175362, "normalized_mutual_information": 0.6559855753101265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7331373778928263, "mutual_information": 1.7331373778928263, "normalized_mutual_information": 0.6518798026947018, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7659098002996891, "mutual_information": 1.7659098002996891, "normalized_mutual_information": 0.6634864683403777, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7550353672214953, "mutual_information": 1.7550353672214953, "normalized_mutual_information": 0.6586253002051302, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7663027992383744, "mutual_information": 1.7663027992383744, "normalized_mutual_information": 0.6619751623822444, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.1 ], "objective": 1.756343037716656, "mutual_information": 1.756343037716656, "normalized_mutual_information": 0.6569367465205814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.1 ], "objective": 1.7553894600519968, "mutual_information": 1.7553894600519968, "normalized_mutual_information": 0.6581710248644005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.6996411382899932, "mutual_information": 1.6996411382899932, "normalized_mutual_information": 0.6385563340539006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.6845664575751311, "mutual_information": 1.6845664575751311, "normalized_mutual_information": 0.630654507746228, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7793736160545646, "mutual_information": 1.7793736160545646, "normalized_mutual_information": 0.6656935546850962, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.773500390124636, "mutual_information": 1.773500390124636, "normalized_mutual_information": 0.664722189268304, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7070822036888427, "mutual_information": 1.7070822036888427, "normalized_mutual_information": 0.6419815803593818, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.762814055639885, "mutual_information": 1.762814055639885, "normalized_mutual_information": 0.6587240217650643, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7157446399080902, "mutual_information": 1.7157446399080902, "normalized_mutual_information": 0.6434381241092278, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.741615397265092, "mutual_information": 1.741615397265092, "normalized_mutual_information": 0.6560721557264133, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7470015510432617, "mutual_information": 1.7470015510432617, "normalized_mutual_information": 0.6563363510696232, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7491671732422098, "mutual_information": 1.7491671732422098, "normalized_mutual_information": 0.6544958843333138, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.2 ], "objective": 1.726122723971396, "mutual_information": 1.726122723971396, "normalized_mutual_information": 0.6438529774071974, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.2 ], "objective": 1.7510994379775113, "mutual_information": 1.7510994379775113, "normalized_mutual_information": 0.6539656421145267, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.2 ], "objective": 1.7248630282142845, "mutual_information": 1.7248630282142845, "normalized_mutual_information": 0.6459636439955129, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.2 ], "objective": 1.6664779060482395, "mutual_information": 1.6664779060482395, "normalized_mutual_information": 0.6225360464879695, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.30000000000000004 ], "objective": 1.7580140253593342, "mutual_information": 1.7580140253593342, "normalized_mutual_information": 0.6531666490429564, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7762719790786956, "mutual_information": 1.7762719790786956, "normalized_mutual_information": 0.6647108551276809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.125, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7400333626761706, "mutual_information": 1.7400333626761706, "normalized_mutual_information": 0.653358690670602, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.125, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7457826118883428, "mutual_information": 1.7457826118883428, "normalized_mutual_information": 0.6535970385554615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.0, -0.375, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7597005730369044, "mutual_information": 1.7597005730369044, "normalized_mutual_information": 0.655447735096732, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.0, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.759563153395179, "mutual_information": 1.759563153395179, "normalized_mutual_information": 0.6575515990398465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7693736866835472, "mutual_information": 1.7693736866835472, "normalized_mutual_information": 0.6620007948728587, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7606400899995485, "mutual_information": 1.7606400899995485, "normalized_mutual_information": 0.6590987056961451, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.7550882590743833, "mutual_information": 1.7550882590743833, "normalized_mutual_information": 0.653706747845261, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.2 ], "objective": 1.7640677060695327, "mutual_information": 1.7640677060695327, "normalized_mutual_information": 0.6601614879326126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.2 ], "objective": 1.768738297067855, "mutual_information": 1.768738297067855, "normalized_mutual_information": 0.6623793844522182, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.2 ], "objective": 1.7308945725851779, "mutual_information": 1.7308945725851779, "normalized_mutual_information": 0.6469211227892983, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.25 ], "objective": 1.7551852930520795, "mutual_information": 1.7551852930520795, "normalized_mutual_information": 0.6548334027763146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.15000000000000002 ], "objective": 1.7781302424153738, "mutual_information": 1.7781302424153738, "normalized_mutual_information": 0.6656205516004636, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.0625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7676578670263285, "mutual_information": 1.7676578670263285, "normalized_mutual_information": 0.661462775988367, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.0625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7621284861712565, "mutual_information": 1.7621284861712565, "normalized_mutual_information": 0.6598310244729902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, -0.3125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7673038856730408, "mutual_information": 1.7673038856730408, "normalized_mutual_information": 0.6598982722528017, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, -0.1875, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7697302912835895, "mutual_information": 1.7697302912835895, "normalized_mutual_information": 0.6610603350508576, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7740720963752004, "mutual_information": 1.7740720963752004, "normalized_mutual_information": 0.6646428069515516, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7725469263753337, "mutual_information": 1.7725469263753337, "normalized_mutual_information": 0.6629764080285527, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.75923727003664, "mutual_information": 1.75923727003664, "normalized_mutual_information": 0.65708398845369, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.2 ], "objective": 1.768400439482611, "mutual_information": 1.768400439482611, "normalized_mutual_information": 0.6606756610198801, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.2 ], "objective": 1.7704759421171563, "mutual_information": 1.7704759421171563, "normalized_mutual_information": 0.6629648934094214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.2 ], "objective": 1.74649640850913, "mutual_information": 1.74649640850913, "normalized_mutual_information": 0.6537938861364768, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.225 ], "objective": 1.7679717277238414, "mutual_information": 1.7679717277238414, "normalized_mutual_information": 0.6593448406305723, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7854366088489186, "mutual_information": 1.7854366088489186, "normalized_mutual_information": 0.6680017618657805, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.0625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7784120339950242, "mutual_information": 1.7784120339950242, "normalized_mutual_information": 0.6664180051676204, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.0625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7576292655340933, "mutual_information": 1.7576292655340933, "normalized_mutual_information": 0.6587230484317722, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, -0.3125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.771439949561567, "mutual_information": 1.771439949561567, "normalized_mutual_information": 0.6629200147516451, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, -0.1875, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.767082352422955, "mutual_information": 1.767082352422955, "normalized_mutual_information": 0.6602620762910967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7789665735055908, "mutual_information": 1.7789665735055908, "normalized_mutual_information": 0.6659812569424837, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7789313250304755, "mutual_information": 1.7789313250304755, "normalized_mutual_information": 0.6654577863654096, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.17500000000000002 ], "objective": 1.7663359544806276, "mutual_information": 1.7663359544806276, "normalized_mutual_information": 0.6602120113259428, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.17500000000000002 ], "objective": 1.7769283833079281, "mutual_information": 1.7769283833079281, "normalized_mutual_information": 0.663988807559046, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.17500000000000002 ], "objective": 1.774114164852757, "mutual_information": 1.774114164852757, "normalized_mutual_information": 0.6643681412065937, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.17500000000000002 ], "objective": 1.7688126665205817, "mutual_information": 1.7688126665205817, "normalized_mutual_information": 0.6622989560556307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.7793736160545646, "mutual_information": 1.7793736160545646, "normalized_mutual_information": 0.6656935546850962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.15000000000000002 ], "objective": 1.7781302424153738, "mutual_information": 1.7781302424153738, "normalized_mutual_information": 0.6656205516004636, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.03125, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7802006806583215, "mutual_information": 1.7802006806583215, "normalized_mutual_information": 0.6672490712511081, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.03125, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7780496088331652, "mutual_information": 1.7780496088331652, "normalized_mutual_information": 0.6659692796219379, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.0, -0.28125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7756119740494272, "mutual_information": 1.7756119740494272, "normalized_mutual_information": 0.6644980603304854, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.0, -0.21875, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.776989995273473, "mutual_information": 1.776989995273473, "normalized_mutual_information": 0.6642177064737256, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7834263212870247, "mutual_information": 1.7834263212870247, "normalized_mutual_information": 0.6671865270359788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7769618761184949, "mutual_information": 1.7769618761184949, "normalized_mutual_information": 0.6645559344545331, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.17500000000000002 ], "objective": 1.7797327979507156, "mutual_information": 1.7797327979507156, "normalized_mutual_information": 0.6657704049299212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.17500000000000002 ], "objective": 1.7788661093852014, "mutual_information": 1.7788661093852014, "normalized_mutual_information": 0.6656544781606472, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.17500000000000002 ], "objective": 1.7783232926661505, "mutual_information": 1.7783232926661505, "normalized_mutual_information": 0.6658377083637005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.17500000000000002 ], "objective": 1.7746776061834353, "mutual_information": 1.7746776061834353, "normalized_mutual_information": 0.6633854682456599, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.18750000000000003 ], "objective": 1.783360652732303, "mutual_information": 1.783360652732303, "normalized_mutual_information": 0.6664260616611817, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1625 ], "objective": 1.7758788536362438, "mutual_information": 1.7758788536362438, "normalized_mutual_information": 0.6651871185470394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7810613032766405, "mutual_information": 1.7810613032766405, "normalized_mutual_information": 0.6668633340811255, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7816877038378045, "mutual_information": 1.7816877038378045, "normalized_mutual_information": 0.6670632079265714, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0, -0.265625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7749705565305411, "mutual_information": 1.7749705565305411, "normalized_mutual_information": 0.6649670818593981, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0, -0.234375, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7826418390920924, "mutual_information": 1.7826418390920924, "normalized_mutual_information": 0.6669197722632557, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.015625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.784416207306675, "mutual_information": 1.784416207306675, "normalized_mutual_information": 0.6674153136375526, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.015625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.78246618849035, "mutual_information": 1.78246618849035, "normalized_mutual_information": 0.6667454287146883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.17500000000000002 ], "objective": 1.7792057653721913, "mutual_information": 1.7792057653721913, "normalized_mutual_information": 0.6658337605270132, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.17500000000000002 ], "objective": 1.7839750048507979, "mutual_information": 1.7839750048507979, "normalized_mutual_information": 0.6673053406140314, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.787283777517052, "mutual_information": 1.787283777517052, "normalized_mutual_information": 0.6686524339604535, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.17500000000000002 ], "objective": 1.7778541878622711, "mutual_information": 1.7778541878622711, "normalized_mutual_information": 0.6652181185055048, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.18125000000000002 ], "objective": 1.7851844045249603, "mutual_information": 1.7851844045249603, "normalized_mutual_information": 0.6676383806560149, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.16875 ], "objective": 1.78250460378956, "mutual_information": 1.78250460378956, "normalized_mutual_information": 0.6670887001388777, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.7867210175246744, "mutual_information": 1.7867210175246744, "normalized_mutual_information": 0.6684812886802719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.7775170303494763, "mutual_information": 1.7775170303494763, "normalized_mutual_information": 0.6662632271307977, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.0, -0.265625, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.7766645954969824, "mutual_information": 1.7766645954969824, "normalized_mutual_information": 0.6658360115255345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.0, -0.234375, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.7847744605102964, "mutual_information": 1.7847744605102964, "normalized_mutual_information": 0.6674937332177683, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.787231699625164, "mutual_information": 1.787231699625164, "normalized_mutual_information": 0.6685315128930044, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.7870776636376589, "mutual_information": 1.7870776636376589, "normalized_mutual_information": 0.6684518312833904, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.00625, -0.00625, -0.17500000000000002 ], "objective": 1.7794497616023268, "mutual_information": 1.7794497616023268, "normalized_mutual_information": 0.6664554105152126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.00625, -0.00625, -0.17500000000000002 ], "objective": 1.7856780611824927, "mutual_information": 1.7856780611824927, "normalized_mutual_information": 0.6676374757864961, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.17500000000000002 ], "objective": 1.7783232926661505, "mutual_information": 1.7783232926661505, "normalized_mutual_information": 0.6658377083637005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.7854366088489186, "mutual_information": 1.7854366088489186, "normalized_mutual_information": 0.6680017618657805, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7882755305727143, "mutual_information": 1.7882755305727143, "normalized_mutual_information": 0.6690052184700473, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.16875 ], "objective": 1.786854964041936, "mutual_information": 1.786854964041936, "normalized_mutual_information": 0.6690893683585593, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7831108022288529, "mutual_information": 1.7831108022288529, "normalized_mutual_information": 0.6674360254299674, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7783433361190457, "mutual_information": 1.7783433361190457, "normalized_mutual_information": 0.6662003400913302, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.0, -0.265625, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7836118626849948, "mutual_information": 1.7836118626849948, "normalized_mutual_information": 0.6678661195087852, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.0, -0.234375, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.783968220031823, "mutual_information": 1.783968220031823, "normalized_mutual_information": 0.6674557781184732, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.785763661171955, "mutual_information": 1.785763661171955, "normalized_mutual_information": 0.6684140780713177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7834778665708526, "mutual_information": 1.7834778665708526, "normalized_mutual_information": 0.6672543300032645, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.00625, -0.00625, -0.18125000000000002 ], "objective": 1.7829144557894325, "mutual_information": 1.7829144557894325, "normalized_mutual_information": 0.6676710990746141, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.00625, -0.00625, -0.18125000000000002 ], "objective": 1.7877422678270491, "mutual_information": 1.7877422678270491, "normalized_mutual_information": 0.6683502726071019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.18125000000000002 ], "objective": 1.7748790661265499, "mutual_information": 1.7748790661265499, "normalized_mutual_information": 0.6646670173838318, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.18125000000000002 ], "objective": 1.7851844045249603, "mutual_information": 1.7851844045249603, "normalized_mutual_information": 0.6676383806560149, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7883027905506805, "mutual_information": 1.7883027905506805, "normalized_mutual_information": 0.6689306292718978, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.17500000000000002 ], "objective": 1.787283777517052, "mutual_information": 1.787283777517052, "normalized_mutual_information": 0.6686524339604535, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7789508045937155, "mutual_information": 1.7789508045937155, "normalized_mutual_information": 0.6652646920084669, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.015625, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7785807282678885, "mutual_information": 1.7785807282678885, "normalized_mutual_information": 0.6662551883745537, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.0, -0.265625, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7765230070917835, "mutual_information": 1.7765230070917835, "normalized_mutual_information": 0.6649096214316733, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.0, -0.234375, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7853666936886208, "mutual_information": 1.7853666936886208, "normalized_mutual_information": 0.6673669722124099, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7840913033920398, "mutual_information": 1.7840913033920398, "normalized_mutual_information": 0.6675513505583978, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18750000000000003 ], "objective": 1.7816906296102009, "mutual_information": 1.7816906296102009, "normalized_mutual_information": 0.666265300626978, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.00625, -0.00625, -0.18750000000000003 ], "objective": 1.783305211721126, "mutual_information": 1.783305211721126, "normalized_mutual_information": 0.6672837976496192, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.00625, -0.00625, -0.18750000000000003 ], "objective": 1.7853756462814303, "mutual_information": 1.7853756462814303, "normalized_mutual_information": 0.6676373360867762, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.18750000000000003 ], "objective": 1.7745992354283573, "mutual_information": 1.7745992354283573, "normalized_mutual_information": 0.664511385254262, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.18750000000000003 ], "objective": 1.783360652732303, "mutual_information": 1.783360652732303, "normalized_mutual_information": 0.6664260616611817, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.19375000000000003 ], "objective": 1.787691754466583, "mutual_information": 1.787691754466583, "normalized_mutual_information": 0.6684196247910942, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.18125000000000002 ], "objective": 1.7882755305727143, "mutual_information": 1.7882755305727143, "normalized_mutual_information": 0.6690052184700473, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 145, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.24999999999974162, "translation_m": 0.18760413774754547, "recovered": true }, "mi_seconds": 0.3320095459930599, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.47905430979249064, "translation_m": 0.230061217215272, "recovered": false }, "archived_accepted": true, "fitted_bias_m": -0.005859952108364838, "archived_cost": 1019.778534897914, "common_supported": 1534, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.2828011461716, "supported_cost": 103.84658356667157, "signed_quantiles_m": [ -37.62948791650167, -2.0318602229825355, -0.06784502213121968, 0.23944359920782404, 35.66514420564939 ], "negative_fraction": 0.6121814791796146, "absolute_over_1m_fraction": 0.23368551895587322, "common_support_cost": 94.47429298276091 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1070.6551588873776, "supported_cost": 104.21894130787769, "signed_quantiles_m": [ -37.63534786861003, -2.0377201750909, -0.07370497423958451, 0.2335836470994592, 35.659284253541024 ], "negative_fraction": 0.6258545680546923, "absolute_over_1m_fraction": 0.23306401491609696, "common_support_cost": 94.82304735896062 }, "fit_zero": { "total": 12288, "supported": 1639, "cost": 1019.7830497808013, "supported_cost": 56.06179488763746, "signed_quantiles_m": [ -28.403880696245807, -0.31908886070019515, 0.1349534493643052, 1.7760279922876332, 47.9979401695178 ], "negative_fraction": 0.225137278828554, "absolute_over_1m_fraction": 0.2202562538133008, "common_support_cost": 53.60113160483304 }, "fit_fitted_bias": { "total": 12288, "supported": 1639, "cost": 1019.778534897914, "supported_cost": 56.057280004750204, "signed_quantiles_m": [ -28.409740648354173, -0.32494881280856, 0.12909349725594035, 1.7701680401792683, 47.99208021740943 ], "negative_fraction": 0.23428920073215376, "absolute_over_1m_fraction": 0.2202562538133008, "common_support_cost": 53.595026966400106 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.5825965769908836, "translation_m": 0.13745862841692655, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.12142991107236963, "archived_cost": 1026.0321198232386, "common_supported": 1543, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 92.93695203564204 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1064.993918305574, "supported_cost": 98.55770072607382, "signed_quantiles_m": [ -37.38632685703304, -1.967288301252221, 0.056087850890530325, 0.38413493370200014, 35.78657411672176 ], "negative_fraction": 0.42697327532628965, "absolute_over_1m_fraction": 0.22311995027967682, "common_support_cost": 87.87026503020009 }, "fit_zero": { "total": 12288, "supported": 1633, "cost": 1029.2534271839027, "supported_cost": 64.98917975347153, "signed_quantiles_m": [ -38.18586404707267, -0.5801594929355471, -0.03669011787849108, 1.4083581222150539, 42.59711211547636 ], "negative_fraction": 0.5921616656460502, "absolute_over_1m_fraction": 0.19412124923453766, "common_support_cost": 59.75828447219985 }, "fit_fitted_bias": { "total": 12288, "supported": 1633, "cost": 1026.0321198232389, "supported_cost": 61.76787239280775, "signed_quantiles_m": [ -38.0644341360003, -0.4587295818631775, 0.08473979319387855, 1.5297880332874234, 42.718542026548725 ], "negative_fraction": 0.2835272504592774, "absolute_over_1m_fraction": 0.19779546846295162, "common_support_cost": 56.73956429321479 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.5825965769908836, "translation_m": 0.13745862841692655, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.13173644170847695, "archived_cost": 1026.0187703221704, "common_supported": 1543, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 92.93695203564204 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1064.6694216509923, "supported_cost": 98.2332040714921, "signed_quantiles_m": [ -37.37602032639693, -1.9569817706161137, 0.06639438152663765, 0.3944414643381075, 35.79688064735787 ], "negative_fraction": 0.4126786824114357, "absolute_over_1m_fraction": 0.22125543816034804, "common_support_cost": 87.57254235783608 }, "fit_zero": { "total": 12288, "supported": 1633, "cost": 1029.2534271839027, "supported_cost": 64.98917975347153, "signed_quantiles_m": [ -38.18586404707267, -0.5801594929355471, -0.03669011787849108, 1.4083581222150539, 42.59711211547636 ], "negative_fraction": 0.5921616656460502, "absolute_over_1m_fraction": 0.19412124923453766, "common_support_cost": 59.75828447219985 }, "fit_fitted_bias": { "total": 12288, "supported": 1633, "cost": 1026.0187703221704, "supported_cost": 61.7545228917393, "signed_quantiles_m": [ -38.054127605364194, -0.44842305122707016, 0.09504632382998587, 1.5400945639235308, 42.72884855718483 ], "negative_fraction": 0.2645437844458053, "absolute_over_1m_fraction": 0.19779546846295162, "common_support_cost": 56.73031365154936 } } } ] }, { "case_id": "2011_09_28_0002-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.06190505386622783, -0.011439069752791103, -0.37756798283289783 ], "rotation_quat_xyzw": [ 0.49548803229922783, -0.4982971796704046, 0.49367950271323224, 0.5123202896446476 ] }, "transform_camera_lidar": { "translation_m": [ -0.011905053866227824, -0.21143906975279111, -0.40256798283289785 ], "rotation_quat_xyzw": [ 0.4931793270736404, -0.5029419381688621, 0.4978037742388906, 0.5059792095844012 ] }, "best_delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "best_delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.4469256972669617, "normalized_mutual_information": 0.5604188306023811, "visible_point_count": 1546, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.3604213799091833, "normalized_mutual_information": 0.5406892608752951, "visible_point_count": 495, "projected_count_before_visibility": 578 }, { "frame_id": "frame-187", "mutual_information": 1.4556325996382022, "normalized_mutual_information": 0.5621095950561209, "visible_point_count": 528, "projected_count_before_visibility": 613 }, { "frame_id": "frame-281", "mutual_information": 1.5247231122534997, "normalized_mutual_information": 0.5784576358757272, "visible_point_count": 523, "projected_count_before_visibility": 611 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.7508140337524496, "normalized_mutual_information": 0.6678774914167162, "visible_point_count": 1675, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-93", "mutual_information": 1.676921521686244, "normalized_mutual_information": 0.655001537625053, "visible_point_count": 521, "projected_count_before_visibility": 639 }, { "frame_id": "frame-187", "mutual_information": 1.7633033102104556, "normalized_mutual_information": 0.6719548455405396, "visible_point_count": 570, "projected_count_before_visibility": 672 }, { "frame_id": "frame-281", "mutual_information": 1.8122172693606489, "normalized_mutual_information": 0.676676091084556, "visible_point_count": 584, "projected_count_before_visibility": 678 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4469256972669617, "mutual_information": 1.4469256972669617, "normalized_mutual_information": 0.5604188306023811, "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": 1.4212668202616208, "mutual_information": 1.4212668202616208, "normalized_mutual_information": 0.5529037465354684, "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": 1.4749189274030083, "mutual_information": 1.4749189274030083, "normalized_mutual_information": 0.5696058110372751, "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": 1.4805317367371258, "mutual_information": 1.4805317367371258, "normalized_mutual_information": 0.5750094530041229, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 5, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4204867096586444, "mutual_information": 1.4204867096586444, "normalized_mutual_information": 0.5483379706088485, "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": 1.4334841663019386, "mutual_information": 1.4334841663019386, "normalized_mutual_information": 0.5550512813496135, "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": 1.4612498541994985, "mutual_information": 1.4612498541994985, "normalized_mutual_information": 0.566043357948141, "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": 1.4746022189171077, "mutual_information": 1.4746022189171077, "normalized_mutual_information": 0.5715492353157878, "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": 1.4218433233608974, "mutual_information": 1.4218433233608974, "normalized_mutual_information": 0.5477982728833755, "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": 1.4585411149861638, "mutual_information": 1.4585411149861638, "normalized_mutual_information": 0.5663965771805781, "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": 1.4251818072961695, "mutual_information": 1.4251818072961695, "normalized_mutual_information": 0.5533951709779169, "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": 1.4219317750021458, "mutual_information": 1.4219317750021458, "normalized_mutual_information": 0.5501166118479449, "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": 1.4536745558456179, "mutual_information": 1.4536745558456179, "normalized_mutual_information": 0.5623304839868187, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4395069528300761, "mutual_information": 1.4395069528300761, "normalized_mutual_information": 0.5607333819820788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5023954849448777, "mutual_information": 1.5023954849448777, "normalized_mutual_information": 0.5795184743247289, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.490691407533484, "mutual_information": 1.490691407533484, "normalized_mutual_information": 0.5785969053999102, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4469256972669617, "mutual_information": 1.4469256972669617, "normalized_mutual_information": 0.5604188306023811, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.0, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4620751001516126, "mutual_information": 1.4620751001516126, "normalized_mutual_information": 0.5673874184489606, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4731713509101692, "mutual_information": 1.4731713509101692, "normalized_mutual_information": 0.5721212748001702, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4806741406365305, "mutual_information": 1.4806741406365305, "normalized_mutual_information": 0.5759564872145866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.4461535276271273, "mutual_information": 1.4461535276271273, "normalized_mutual_information": 0.5603711693603701, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.496578083241222, "mutual_information": 1.496578083241222, "normalized_mutual_information": 0.5815061671995988, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.443712150231366, "mutual_information": 1.443712150231366, "normalized_mutual_information": 0.5613145575489696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 24, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.4613670505197067, "mutual_information": 1.4613670505197067, "normalized_mutual_information": 0.5651759029346262, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.469473856426306, "mutual_information": 1.469473856426306, "normalized_mutual_information": 0.572426416237668, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4805317367371258, "mutual_information": 1.4805317367371258, "normalized_mutual_information": 0.5750094530041229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.53801363585103, "mutual_information": 1.53801363585103, "normalized_mutual_information": 0.5913702413983838, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5416411430711825, "mutual_information": 1.5416411430711825, "normalized_mutual_information": 0.5945628885877879, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4749189274030083, "mutual_information": 1.4749189274030083, "normalized_mutual_information": 0.5696058110372751, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4916752573466496, "mutual_information": 1.4916752573466496, "normalized_mutual_information": 0.5749505319139793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5079260435517803, "mutual_information": 1.5079260435517803, "normalized_mutual_information": 0.5841153389152542, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.5278987500876997, "mutual_information": 1.5278987500876997, "normalized_mutual_information": 0.5910437219355177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.4754804956230723, "mutual_information": 1.4754804956230723, "normalized_mutual_information": 0.5685803000227203, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5468745022859058, "mutual_information": 1.5468745022859058, "normalized_mutual_information": 0.5988226673874015, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.4768143135018814, "mutual_information": 1.4768143135018814, "normalized_mutual_information": 0.5703595155441711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.4990005712442216, "mutual_information": 1.4990005712442216, "normalized_mutual_information": 0.5765774432611507, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.52284148508983, "mutual_information": 1.52284148508983, "normalized_mutual_information": 0.5916628577874383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.496578083241222, "mutual_information": 1.496578083241222, "normalized_mutual_information": 0.5815061671995988, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6263515574577443, "mutual_information": 1.6263515574577443, "normalized_mutual_information": 0.6251392044554479, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5809869487101975, "mutual_information": 1.5809869487101975, "normalized_mutual_information": 0.6121194419640821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5095839818588546, "mutual_information": 1.5095839818588546, "normalized_mutual_information": 0.584570962860166, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.25, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5307760351770867, "mutual_information": 1.5307760351770867, "normalized_mutual_information": 0.5898262692439561, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5441215590765751, "mutual_information": 1.5441215590765751, "normalized_mutual_information": 0.5976553972816766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.55488099027872, "mutual_information": 1.55488099027872, "normalized_mutual_information": 0.6040109181773999, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.5095270978735005, "mutual_information": 1.5095270978735005, "normalized_mutual_information": 0.58294185411832, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6292906407409535, "mutual_information": 1.6292906407409535, "normalized_mutual_information": 0.6328254548101323, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5023954849448777, "mutual_information": 1.5023954849448777, "normalized_mutual_information": 0.5795184743247289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.5181027025731886, "mutual_information": 1.5181027025731886, "normalized_mutual_information": 0.5860139042195708, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.5650891950671262, "mutual_information": 1.5650891950671262, "normalized_mutual_information": 0.6072901771817631, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.5645093893232118, "mutual_information": 1.5645093893232118, "normalized_mutual_information": 0.6107594484183235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6333945757406614, "mutual_information": 1.6333945757406614, "normalized_mutual_information": 0.62718714925382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6596026255478644, "mutual_information": 1.6596026255478644, "normalized_mutual_information": 0.6437141311772775, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.5888557804982841, "mutual_information": 1.5888557804982841, "normalized_mutual_information": 0.6159067048941341, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.25, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6101651020096874, "mutual_information": 1.6101651020096874, "normalized_mutual_information": 0.6247634183401441, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6348774825292491, "mutual_information": 1.6348774825292491, "normalized_mutual_information": 0.6332619920619219, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.6434502713647365, "mutual_information": 1.6434502713647365, "normalized_mutual_information": 0.637822867048739, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.2, 0.0 ], "objective": 1.5700488288950218, "mutual_information": 1.5700488288950218, "normalized_mutual_information": 0.6079387259938627, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.30000000000000004, 0.0 ], "objective": 1.571708569975564, "mutual_information": 1.571708569975564, "normalized_mutual_information": 0.6082374448370967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5468745022859058, "mutual_information": 1.5468745022859058, "normalized_mutual_information": 0.5988226673874015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.5947991726398094, "mutual_information": 1.5947991726398094, "normalized_mutual_information": 0.619474515998225, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.1 ], "objective": 1.5942827457525681, "mutual_information": 1.5942827457525681, "normalized_mutual_information": 0.6203423138587065, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.5939048173862274, "mutual_information": 1.5939048173862274, "normalized_mutual_information": 0.6215781265957795, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.641626890209211, "mutual_information": 1.641626890209211, "normalized_mutual_information": 0.6317361086386934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6892328941638322, "mutual_information": 1.6892328941638322, "normalized_mutual_information": 0.6484789201907004, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6292906407409535, "mutual_information": 1.6292906407409535, "normalized_mutual_information": 0.6328254548101323, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.25, -0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6133787349824444, "mutual_information": 1.6133787349824444, "normalized_mutual_information": 0.6261140456708324, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6468919784140212, "mutual_information": 1.6468919784140212, "normalized_mutual_information": 0.6405640814880438, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.6766399593629817, "mutual_information": 1.6766399593629817, "normalized_mutual_information": 0.6445872298046272, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.2, 0.0 ], "objective": 1.5959347125569128, "mutual_information": 1.5959347125569128, "normalized_mutual_information": 0.620270458453965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.30000000000000004, 0.0 ], "objective": 1.5825848375783302, "mutual_information": 1.5825848375783302, "normalized_mutual_information": 0.6106363907283691, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5809869487101975, "mutual_information": 1.5809869487101975, "normalized_mutual_information": 0.6121194419640821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.639952932579299, "mutual_information": 1.639952932579299, "normalized_mutual_information": 0.6339249428961629, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.1 ], "objective": 1.6207225478501635, "mutual_information": 1.6207225478501635, "normalized_mutual_information": 0.6305129106101637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.0, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6378558839374424, "mutual_information": 1.6378558839374424, "normalized_mutual_information": 0.6345957068367758, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.674253348193614, "mutual_information": 1.674253348193614, "normalized_mutual_information": 0.6398168460712818, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.720525460281482, "mutual_information": 1.720525460281482, "normalized_mutual_information": 0.6562455402502855, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.25, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6596026255478644, "mutual_information": 1.6596026255478644, "normalized_mutual_information": 0.6437141311772775, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.25, -0.75, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6604712224020435, "mutual_information": 1.6604712224020435, "normalized_mutual_information": 0.6378381347294865, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.709572988790437, "mutual_information": 1.709572988790437, "normalized_mutual_information": 0.6562286235926275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.6745116799930069, "mutual_information": 1.6745116799930069, "normalized_mutual_information": 0.6392015541436429, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.2, 0.0 ], "objective": 1.6755553816818292, "mutual_information": 1.6755553816818292, "normalized_mutual_information": 0.6455610083356271, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.30000000000000004, 0.0 ], "objective": 1.634916854535102, "mutual_information": 1.634916854535102, "normalized_mutual_information": 0.6244751531263469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6077742024048274, "mutual_information": 1.6077742024048274, "normalized_mutual_information": 0.616215518110684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.7102195451160702, "mutual_information": 1.7102195451160702, "normalized_mutual_information": 0.6550359412678662, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.1 ], "objective": 1.6522671645242752, "mutual_information": 1.6522671645242752, "normalized_mutual_information": 0.6352045082408198, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.0, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6297155460340893, "mutual_information": 1.6297155460340893, "normalized_mutual_information": 0.6311174837488867, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.5, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.679317215327994, "mutual_information": 1.679317215327994, "normalized_mutual_information": 0.6384009856650102, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.25, -1.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6650433934669742, "mutual_information": 1.6650433934669742, "normalized_mutual_information": 0.6369303892573441, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6892328941638322, "mutual_information": 1.6892328941638322, "normalized_mutual_information": 0.6484789201907004, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.25, -1.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6757549154494662, "mutual_information": 1.6757549154494662, "normalized_mutual_information": 0.6389002115071144, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7325936213231756, "mutual_information": 1.7325936213231756, "normalized_mutual_information": 0.6609604410455293, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.674987699262001, "mutual_information": 1.674987699262001, "normalized_mutual_information": 0.6390764595020149, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.2, 0.0 ], "objective": 1.7183163697679815, "mutual_information": 1.7183163697679815, "normalized_mutual_information": 0.6563091120028979, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.30000000000000004, 0.0 ], "objective": 1.662585668246641, "mutual_information": 1.662585668246641, "normalized_mutual_information": 0.6311888029827305, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6108738290979534, "mutual_information": 1.6108738290979534, "normalized_mutual_information": 0.6160058067735972, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.7188269899944604, "mutual_information": 1.7188269899944604, "normalized_mutual_information": 0.6550996693030121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.1 ], "objective": 1.6692355674042005, "mutual_information": 1.6692355674042005, "normalized_mutual_information": 0.6377436266244481, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.0, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6527802443797999, "mutual_information": 1.6527802443797999, "normalized_mutual_information": 0.6383359375719213, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.5, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.701515312308457, "mutual_information": 1.701515312308457, "normalized_mutual_information": 0.6467711167288247, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.25, -1.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6891412679380624, "mutual_information": 1.6891412679380624, "normalized_mutual_information": 0.6488972011515891, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.25, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.709572988790437, "mutual_information": 1.709572988790437, "normalized_mutual_information": 0.6562286235926275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.720525460281482, "mutual_information": 1.720525460281482, "normalized_mutual_information": 0.6562455402502855, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7228134957555055, "mutual_information": 1.7228134957555055, "normalized_mutual_information": 0.6591879579508201, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.7007586291882424, "mutual_information": 1.7007586291882424, "normalized_mutual_information": 0.6491798639719739, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.2, 0.0 ], "objective": 1.7142687608581602, "mutual_information": 1.7142687608581602, "normalized_mutual_information": 0.6557277488708365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.30000000000000004, 0.0 ], "objective": 1.6556902868949248, "mutual_information": 1.6556902868949248, "normalized_mutual_information": 0.6313417884943333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6244122189891046, "mutual_information": 1.6244122189891046, "normalized_mutual_information": 0.6214980234328165, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.7246103676771447, "mutual_information": 1.7246103676771447, "normalized_mutual_information": 0.6572763084545934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.1 ], "objective": 1.6815383168554707, "mutual_information": 1.6815383168554707, "normalized_mutual_information": 0.6432731284493988, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.125, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.682847322699206, "mutual_information": 1.682847322699206, "normalized_mutual_information": 0.6466364016358978, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.375, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6914557122783045, "mutual_information": 1.6914557122783045, "normalized_mutual_information": 0.6446745407767841, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.25, -1.125, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7121007795637013, "mutual_information": 1.7121007795637013, "normalized_mutual_information": 0.6552722717785475, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.25, -0.875, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7324126372074768, "mutual_information": 1.7324126372074768, "normalized_mutual_information": 0.6615902987066488, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7319191130608484, "mutual_information": 1.7319191130608484, "normalized_mutual_information": 0.658379478642113, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.731017077336225, "mutual_information": 1.731017077336225, "normalized_mutual_information": 0.6614504935973889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.2, 0.0 ], "objective": 1.706494705047705, "mutual_information": 1.706494705047705, "normalized_mutual_information": 0.6524491272435408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, 0.0 ], "objective": 1.7347098686103373, "mutual_information": 1.7347098686103373, "normalized_mutual_information": 0.6637072030036477, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.25, 0.0 ], "objective": 1.6860035629900658, "mutual_information": 1.6860035629900658, "normalized_mutual_information": 0.6407451622419874, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.15000000000000002, 0.0 ], "objective": 1.6615033547991658, "mutual_information": 1.6615033547991658, "normalized_mutual_information": 0.6355673382667061, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7423738754161826, "mutual_information": 1.7423738754161826, "normalized_mutual_information": 0.6635733564918184, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.05 ], "objective": 1.711286815253483, "mutual_information": 1.711286815253483, "normalized_mutual_information": 0.654674075194159, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.125, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.6908459085195895, "mutual_information": 1.6908459085195895, "normalized_mutual_information": 0.6482566469266463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.375, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7120264474306026, "mutual_information": 1.7120264474306026, "normalized_mutual_information": 0.650804092101596, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.25, -1.125, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7229945927908947, "mutual_information": 1.7229945927908947, "normalized_mutual_information": 0.6586228502051782, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.25, -0.875, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7248199386828915, "mutual_information": 1.7248199386828915, "normalized_mutual_information": 0.6578646689752343, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7417243546887018, "mutual_information": 1.7417243546887018, "normalized_mutual_information": 0.6622553813594663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7433918290176569, "mutual_information": 1.7433918290176569, "normalized_mutual_information": 0.6651770881219224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.2, -0.05 ], "objective": 1.706428622336048, "mutual_information": 1.706428622336048, "normalized_mutual_information": 0.6533996653561946, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7438481889641586, "mutual_information": 1.7438481889641586, "normalized_mutual_information": 0.6654603066358612, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.25, -0.05 ], "objective": 1.6963679998785608, "mutual_information": 1.6963679998785608, "normalized_mutual_information": 0.6446851018914209, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.15000000000000002, -0.05 ], "objective": 1.6670422962194287, "mutual_information": 1.6670422962194287, "normalized_mutual_information": 0.6354067314285384, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.7246103676771447, "mutual_information": 1.7246103676771447, "normalized_mutual_information": 0.6572763084545934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7325936213231756, "mutual_information": 1.7325936213231756, "normalized_mutual_information": 0.6609604410455293, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.125, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.6771673768713573, "mutual_information": 1.6771673768713573, "normalized_mutual_information": 0.6443740577562584, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.375, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7223625278455472, "mutual_information": 1.7223625278455472, "normalized_mutual_information": 0.6558674035997872, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.25, -1.125, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7255144168324275, "mutual_information": 1.7255144168324275, "normalized_mutual_information": 0.6603426670073425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.25, -0.875, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7054031119276827, "mutual_information": 1.7054031119276827, "normalized_mutual_information": 0.6531106595118671, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7445369402563138, "mutual_information": 1.7445369402563138, "normalized_mutual_information": 0.6640336297235742, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7344448816974356, "mutual_information": 1.7344448816974356, "normalized_mutual_information": 0.6637856303137409, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7423738754161826, "mutual_information": 1.7423738754161826, "normalized_mutual_information": 0.6635733564918184, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.2, -0.05 ], "objective": 1.7172239647855687, "mutual_information": 1.7172239647855687, "normalized_mutual_information": 0.6559955582042364, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.25, -0.05 ], "objective": 1.6990870078907439, "mutual_information": 1.6990870078907439, "normalized_mutual_information": 0.6467309568403965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.15000000000000002, -0.05 ], "objective": 1.6690244123458857, "mutual_information": 1.6690244123458857, "normalized_mutual_information": 0.637158403892341, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.1 ], "objective": 1.7368803116219969, "mutual_information": 1.7368803116219969, "normalized_mutual_information": 0.6613537665125245, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, 0.0 ], "objective": 1.7347098686103373, "mutual_information": 1.7347098686103373, "normalized_mutual_information": 0.6637072030036477, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.125, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.68278354450986, "mutual_information": 1.68278354450986, "normalized_mutual_information": 0.6474424125675253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.375, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7242401024575227, "mutual_information": 1.7242401024575227, "normalized_mutual_information": 0.6569952904951569, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.25, -1.125, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.723874041617436, "mutual_information": 1.723874041617436, "normalized_mutual_information": 0.6588809063352793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.25, -0.875, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7185430591470539, "mutual_information": 1.7185430591470539, "normalized_mutual_information": 0.6579883121757873, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7266247743715066, "mutual_information": 1.7266247743715066, "normalized_mutual_information": 0.6595235075500251, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7438481889641586, "mutual_information": 1.7438481889641586, "normalized_mutual_information": 0.6654603066358612, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.05 ], "objective": 1.7417243546887018, "mutual_information": 1.7417243546887018, "normalized_mutual_information": 0.6622553813594663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.1, -0.2, -0.05 ], "objective": 1.7279667763180508, "mutual_information": 1.7279667763180508, "normalized_mutual_information": 0.659800358072231, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.25, -0.05 ], "objective": 1.6902873105716327, "mutual_information": 1.6902873105716327, "normalized_mutual_information": 0.6436749067149372, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.15000000000000002, -0.05 ], "objective": 1.6684433948550452, "mutual_information": 1.6684433948550452, "normalized_mutual_information": 0.6362517810961953, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.1 ], "objective": 1.7418898392487308, "mutual_information": 1.7418898392487308, "normalized_mutual_information": 0.6622729269309432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, 0.0 ], "objective": 1.7271351345479378, "mutual_information": 1.7271351345479378, "normalized_mutual_information": 0.6600250722745938, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.1875, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7028617478266064, "mutual_information": 1.7028617478266064, "normalized_mutual_information": 0.6525089804669509, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.3125, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7258502926214145, "mutual_information": 1.7258502926214145, "normalized_mutual_information": 0.6561870995838578, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.25, -1.0625, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7372643250548336, "mutual_information": 1.7372643250548336, "normalized_mutual_information": 0.6627094716976636, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.25, -0.9375, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7319743278669864, "mutual_information": 1.7319743278669864, "normalized_mutual_information": 0.6602142837662522, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0625 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7260457739484885, "mutual_information": 1.7260457739484885, "normalized_mutual_information": 0.658468368347188, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7446501032073367, "mutual_information": 1.7446501032073367, "normalized_mutual_information": 0.6649834915815368, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.025, -0.2, -0.05 ], "objective": 1.744678417148976, "mutual_information": 1.744678417148976, "normalized_mutual_information": 0.6638620541244146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.2, -0.05 ], "objective": 1.7233487105895577, "mutual_information": 1.7233487105895577, "normalized_mutual_information": 0.6582222950631068, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.225, -0.05 ], "objective": 1.7067676906186275, "mutual_information": 1.7067676906186275, "normalized_mutual_information": 0.6509514034721987, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.17500000000000002, -0.05 ], "objective": 1.7179280532007741, "mutual_information": 1.7179280532007741, "normalized_mutual_information": 0.6570089830865976, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.07500000000000001 ], "objective": 1.736519571393283, "mutual_information": 1.736519571393283, "normalized_mutual_information": 0.66171648001683, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7449841635020238, "mutual_information": 1.7449841635020238, "normalized_mutual_information": 0.6646646046256245, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.1875, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.705814226611996, "mutual_information": 1.705814226611996, "normalized_mutual_information": 0.6538245525653897, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.3125, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7190456437462764, "mutual_information": 1.7190456437462764, "normalized_mutual_information": 0.6540604345280087, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.25, -1.0625, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.737373925805833, "mutual_information": 1.737373925805833, "normalized_mutual_information": 0.6627144571202472, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.25, -0.9375, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7340346581413428, "mutual_information": 1.7340346581413428, "normalized_mutual_information": 0.661839756254333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.0625 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7201307369568122, "mutual_information": 1.7201307369568122, "normalized_mutual_information": 0.6569484898132187, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.750081979519108, "mutual_information": 1.750081979519108, "normalized_mutual_information": 0.6673724136864108, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.025, -0.2, -0.025 ], "objective": 1.7437829304048622, "mutual_information": 1.7437829304048622, "normalized_mutual_information": 0.6641030406177059, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.2, -0.025 ], "objective": 1.7351028191106075, "mutual_information": 1.7351028191106075, "normalized_mutual_information": 0.6627500542382355, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.225, -0.025 ], "objective": 1.694079623717064, "mutual_information": 1.694079623717064, "normalized_mutual_information": 0.6463571240839793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.17500000000000002, -0.025 ], "objective": 1.7122713438670238, "mutual_information": 1.7122713438670238, "normalized_mutual_information": 0.6557934255619731, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7445369402563138, "mutual_information": 1.7445369402563138, "normalized_mutual_information": 0.6640336297235742, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, 0.0 ], "objective": 1.7271351345479378, "mutual_information": 1.7271351345479378, "normalized_mutual_information": 0.6600250722745938, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ 0.1875, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7118984081637096, "mutual_information": 1.7118984081637096, "normalized_mutual_information": 0.6560226342121204, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ 0.3125, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.72432240508476, "mutual_information": 1.72432240508476, "normalized_mutual_information": 0.655903145371434, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ 0.25, -1.0625, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7337988982401276, "mutual_information": 1.7337988982401276, "normalized_mutual_information": 0.6626975398873979, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ 0.25, -0.9375, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7342968412308064, "mutual_information": 1.7342968412308064, "normalized_mutual_information": 0.6614499013470363, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7449841635020238, "mutual_information": 1.7449841635020238, "normalized_mutual_information": 0.6646646046256245, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7443479040568384, "mutual_information": 1.7443479040568384, "normalized_mutual_information": 0.6659656676331966, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.025, -0.2, -0.025 ], "objective": 1.7459698186543793, "mutual_information": 1.7459698186543793, "normalized_mutual_information": 0.6646609784588957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.2, -0.025 ], "objective": 1.7335750483327577, "mutual_information": 1.7335750483327577, "normalized_mutual_information": 0.6630624311205449, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.225, -0.025 ], "objective": 1.7016332177657805, "mutual_information": 1.7016332177657805, "normalized_mutual_information": 0.6487874750484888, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.17500000000000002, -0.025 ], "objective": 1.7116523008896538, "mutual_information": 1.7116523008896538, "normalized_mutual_information": 0.6549289354532626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.05 ], "objective": 1.7446501032073367, "mutual_information": 1.7446501032073367, "normalized_mutual_information": 0.6649834915815368, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, 0.0 ], "objective": 1.733205381066397, "mutual_information": 1.733205381066397, "normalized_mutual_information": 0.6622679922352548, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ 0.21875, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.732080175305066, "mutual_information": 1.732080175305066, "normalized_mutual_information": 0.6621095856717082, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ 0.28125, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7478336725994896, "mutual_information": 1.7478336725994896, "normalized_mutual_information": 0.6644924273209875, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ 0.25, -1.03125, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7494468646549997, "mutual_information": 1.7494468646549997, "normalized_mutual_information": 0.6667961698996231, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ 0.25, -0.96875, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7399899320633565, "mutual_information": 1.7399899320633565, "normalized_mutual_information": 0.6645659962608714, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.15625 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7484662394128716, "mutual_information": 1.7484662394128716, "normalized_mutual_information": 0.6662214963873265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.21875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.745956904062653, "mutual_information": 1.745956904062653, "normalized_mutual_information": 0.6663443301912021, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.037500000000000006, -0.2, -0.025 ], "objective": 1.7433768215985115, "mutual_information": 1.7433768215985115, "normalized_mutual_information": 0.6646607648036801, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.0625, -0.2, -0.025 ], "objective": 1.7352962017498887, "mutual_information": 1.7352962017498887, "normalized_mutual_information": 0.663835133591454, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.21250000000000002, -0.025 ], "objective": 1.7160861901639297, "mutual_information": 1.7160861901639297, "normalized_mutual_information": 0.6542905464038794, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.1875, -0.025 ], "objective": 1.72611286782647, "mutual_information": 1.72611286782647, "normalized_mutual_information": 0.6595387823077975, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.037500000000000006 ], "objective": 1.7460160210913276, "mutual_information": 1.7460160210913276, "normalized_mutual_information": 0.6653601467127991, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.0125 ], "objective": 1.7371790814743437, "mutual_information": 1.7371790814743437, "normalized_mutual_information": 0.6629778607540024, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ 0.234375, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7360381068944786, "mutual_information": 1.7360381068944786, "normalized_mutual_information": 0.662867353983629, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ 0.265625, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7477740494122376, "mutual_information": 1.7477740494122376, "normalized_mutual_information": 0.6651209813043377, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ 0.25, -1.015625, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7433891890946127, "mutual_information": 1.7433891890946127, "normalized_mutual_information": 0.6646584122933658, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ 0.25, -0.984375, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7460428198285476, "mutual_information": 1.7460428198285476, "normalized_mutual_information": 0.6669495027901524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.171875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.750594273489635, "mutual_information": 1.750594273489635, "normalized_mutual_information": 0.6671501596315954, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7508140337524496, "mutual_information": 1.7508140337524496, "normalized_mutual_information": 0.6678774914167162, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 212, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.043750000000000004, -0.2, -0.025 ], "objective": 1.7466818980409151, "mutual_information": 1.7466818980409151, "normalized_mutual_information": 0.6653170399338372, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05625, -0.2, -0.025 ], "objective": 1.742514788026812, "mutual_information": 1.742514788026812, "normalized_mutual_information": 0.665086278642952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.20625000000000002, -0.025 ], "objective": 1.7395142893180247, "mutual_information": 1.7395142893180247, "normalized_mutual_information": 0.6627952349226677, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.19375, -0.025 ], "objective": 1.7373234463149902, "mutual_information": 1.7373234463149902, "normalized_mutual_information": 0.6637060736140488, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.03125 ], "objective": 1.74888293942544, "mutual_information": 1.74888293942544, "normalized_mutual_information": 0.6666551565172809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.018750000000000003 ], "objective": 1.7484917627707997, "mutual_information": 1.7484917627707997, "normalized_mutual_information": 0.6666596791568539, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ 0.234375, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.739834997083829, "mutual_information": 1.739834997083829, "normalized_mutual_information": 0.6648499126964782, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ 0.265625, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7443247678147487, "mutual_information": 1.7443247678147487, "normalized_mutual_information": 0.6641155460221814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ 0.25, -1.015625, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7460804980532576, "mutual_information": 1.7460804980532576, "normalized_mutual_information": 0.6657864377266857, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ 0.25, -0.984375, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.7477236290816822, "mutual_information": 1.7477236290816822, "normalized_mutual_information": 0.6673371646246324, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.1875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.750081979519108, "mutual_information": 1.750081979519108, "normalized_mutual_information": 0.6673724136864108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.21875 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.025 ], "objective": 1.745956904062653, "mutual_information": 1.745956904062653, "normalized_mutual_information": 0.6663443301912021, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.043750000000000004, -0.2, -0.025 ], "objective": 1.7485572608587245, "mutual_information": 1.7485572608587245, "normalized_mutual_information": 0.666215933807597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05625, -0.2, -0.025 ], "objective": 1.7441807873584583, "mutual_information": 1.7441807873584583, "normalized_mutual_information": 0.665947899047012, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.20625000000000002, -0.025 ], "objective": 1.7364709891510006, "mutual_information": 1.7364709891510006, "normalized_mutual_information": 0.6628193766355318, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.19375, -0.025 ], "objective": 1.7378728633691864, "mutual_information": 1.7378728633691864, "normalized_mutual_information": 0.6644166459931378, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.03125 ], "objective": 1.7474773733761186, "mutual_information": 1.7474773733761186, "normalized_mutual_information": 0.6661867130152808, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ 0.25, -1.0, 0.203125 ], "delta_translation_m_xyz": [ 0.05, -0.2, -0.018750000000000003 ], "objective": 1.7458729137543703, "mutual_information": 1.7458729137543703, "normalized_mutual_information": 0.6660523271558033, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.7969118917947873, "translation_m": 0.17500000000000002, "recovered": false }, "mi_seconds": 0.518233552982565, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.577324773568913, "translation_m": 0.3596888447987897, "recovered": false }, "archived_accepted": false, "fitted_bias_m": 0.05919775925014134, "archived_cost": 1011.6290271440029, "common_supported": 1213, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.2828011461716, "supported_cost": 103.84658356667157, "signed_quantiles_m": [ -37.62948791650167, -2.0318602229825355, -0.06784502213121968, 0.23944359920782404, 35.66514420564939 ], "negative_fraction": 0.6121814791796146, "absolute_over_1m_fraction": 0.23368551895587322, "common_support_cost": 91.74513756362774 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1067.16867046678, "supported_cost": 100.73245288727995, "signed_quantiles_m": [ -37.57029015725153, -1.9726624637323944, -0.008647262881078338, 0.2986413584579654, 35.72434196489953 ], "negative_fraction": 0.5158483530142945, "absolute_over_1m_fraction": 0.22871348663766314, "common_support_cost": 88.48503113562899 }, "fit_zero": { "total": 12288, "supported": 1303, "cost": 1011.8625143478872, "supported_cost": 17.73367736775711, "signed_quantiles_m": [ -3.1258848703711806, 2.237356039500545, 5.17636605495276, 18.781759824385027, 56.41456094309222 ], "negative_fraction": 0.039140445126630855, "absolute_over_1m_fraction": 0.9493476592478894, "common_support_cost": 16.646563187136923 }, "fit_fitted_bias": { "total": 12288, "supported": 1303, "cost": 1011.629027144003, "supported_cost": 17.500190163872922, "signed_quantiles_m": [ -3.0666871111210394, 2.2965537987506863, 5.2355638142029015, 18.84095758363517, 56.47375870234236 ], "negative_fraction": 0.03683806600153492, "absolute_over_1m_fraction": 0.9478127398311589, "common_support_cost": 16.412049090953868 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.8320321196054823, "translation_m": 0.3673920189743401, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.3452657974171883, "archived_cost": 996.8426520079943, "common_supported": 1448, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 94.9143548865326 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1059.0353948205066, "supported_cost": 92.59917724100652, "signed_quantiles_m": [ -37.16249097068822, -1.7434524149074024, 0.279923737235349, 0.6079708200468189, 36.01041000306658 ], "negative_fraction": 0.28899937849596025, "absolute_over_1m_fraction": 0.20882535736482288, "common_support_cost": 83.53281899411253 }, "fit_zero": { "total": 12288, "supported": 1583, "cost": 998.0518155154243, "supported_cost": 29.262630274432674, "signed_quantiles_m": [ -11.303428520453473, 0.6849246318625235, 3.0242872894689086, 17.284803677924373, 54.22490784507855 ], "negative_fraction": 0.05559065066329753, "absolute_over_1m_fraction": 0.852179406190777, "common_support_cost": 26.54958025840562 }, "fit_fitted_bias": { "total": 12288, "supported": 1583, "cost": 996.8426520079945, "supported_cost": 28.053466767002853, "signed_quantiles_m": [ -10.958162723036285, 1.0301904292797117, 3.369553086886097, 17.63006947534156, 54.57017364249574 ], "negative_fraction": 0.024636765634870498, "absolute_over_1m_fraction": 0.9204042956411876, "common_support_cost": 25.472836040995315 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.8320321196054823, "translation_m": 0.3673920189743401, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.49999958067838, "archived_cost": 996.6160261492743, "common_supported": 1448, "states": { "reference_zero": { "total": 12288, "supported": 1609, "cost": 1070.4006148116414, "supported_cost": 103.96439723214105, "signed_quantiles_m": [ -37.50775676810541, -2.0887182123245904, -0.0653420601818393, 0.2627050226296305, 35.66514420564939 ], "negative_fraction": 0.6072094468614045, "absolute_over_1m_fraction": 0.2324425108763207, "common_support_cost": 94.9143548865326 }, "reference_fitted_bias": { "total": 12288, "supported": 1609, "cost": 1055.0053046811547, "supported_cost": 88.56908710165462, "signed_quantiles_m": [ -37.00775718742703, -1.5887186316462107, 0.4346575204965407, 0.7627046033080106, 36.16514378632777 ], "negative_fraction": 0.2399005593536358, "absolute_over_1m_fraction": 0.20820385332504662, "common_support_cost": 79.63057649302914 }, "fit_zero": { "total": 12288, "supported": 1583, "cost": 998.0518155154243, "supported_cost": 29.262630274432674, "signed_quantiles_m": [ -11.303428520453473, 0.6849246318625235, 3.0242872894689086, 17.284803677924373, 54.22490784507855 ], "negative_fraction": 0.05559065066329753, "absolute_over_1m_fraction": 0.852179406190777, "common_support_cost": 26.54958025840562 }, "fit_fitted_bias": { "total": 12288, "supported": 1583, "cost": 996.6160261492743, "supported_cost": 27.826840908282673, "signed_quantiles_m": [ -10.803428939775092, 1.1849242125409034, 3.5242868701472885, 17.784803258602754, 54.724907425756925 ], "negative_fraction": 0.01831964624131396, "absolute_over_1m_fraction": 0.930511686670878, "common_support_cost": 25.222130459270172 } } } ] }, { "case_id": "2011_09_26_0009-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.1570524478595304, -0.12546671853346003, -0.2193869124058732 ], "rotation_quat_xyzw": [ -0.4970392806734143, 0.5065017108732196, -0.502029631017498, -0.4943422093353867 ] }, "transform_camera_lidar": { "translation_m": [ 0.3570524478595304, 0.17453328146654, -0.2068869124058732 ], "rotation_quat_xyzw": [ 0.49463989689237936, -0.5066904280197762, 0.49803864778041457, 0.500553381641248 ] }, "best_delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "best_delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.3165157616871146, "normalized_mutual_information": 0.5358522860939166, "visible_point_count": 1651, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.2280904969810016, "normalized_mutual_information": 0.5066921245897507, "visible_point_count": 525, "projected_count_before_visibility": 636 }, { "frame_id": "frame-223", "mutual_information": 1.3414267414600634, "normalized_mutual_information": 0.5442352503207353, "visible_point_count": 548, "projected_count_before_visibility": 671 }, { "frame_id": "frame-334", "mutual_information": 1.3800300466202788, "normalized_mutual_information": 0.5566294833712637, "visible_point_count": 578, "projected_count_before_visibility": 737 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.592827047677653, "normalized_mutual_information": 0.6528674802930343, "visible_point_count": 1460, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.590092380655125, "normalized_mutual_information": 0.6524068906769025, "visible_point_count": 474, "projected_count_before_visibility": 553 }, { "frame_id": "frame-223", "mutual_information": 1.498911721118545, "normalized_mutual_information": 0.6237144537576701, "visible_point_count": 477, "projected_count_before_visibility": 585 }, { "frame_id": "frame-334", "mutual_information": 1.6894770412592894, "normalized_mutual_information": 0.6824810964445303, "visible_point_count": 509, "projected_count_before_visibility": 646 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.3165157616871146, "mutual_information": 1.3165157616871146, "normalized_mutual_information": 0.5358522860939166, "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": 1.309585296487361, "mutual_information": 1.309585296487361, "normalized_mutual_information": 0.5378214406149037, "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": 1.2880138704747397, "mutual_information": 1.2880138704747397, "normalized_mutual_information": 0.5223704378882378, "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": 1.2947852431542475, "mutual_information": 1.2947852431542475, "normalized_mutual_information": 0.5266597791697253, "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": 1.3380507766988965, "mutual_information": 1.3380507766988965, "normalized_mutual_information": 0.5441842756560833, "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": 1.3101015580033117, "mutual_information": 1.3101015580033117, "normalized_mutual_information": 0.5346324769737999, "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": 1.3034450176468015, "mutual_information": 1.3034450176468015, "normalized_mutual_information": 0.5290809972974727, "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": 1.3053860199367124, "mutual_information": 1.3053860199367124, "normalized_mutual_information": 0.5293018568297677, "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": 1.3344798621282663, "mutual_information": 1.3344798621282663, "normalized_mutual_information": 0.5437749526359937, "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": 1.2616606717210033, "mutual_information": 1.2616606717210033, "normalized_mutual_information": 0.512753733590246, "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": 1.349250493692356, "mutual_information": 1.349250493692356, "normalized_mutual_information": 0.5538054330343088, "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": 1.3188304723495674, "mutual_information": 1.3188304723495674, "normalized_mutual_information": 0.5360853416037292, "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": 1.3017382750021305, "mutual_information": 1.3017382750021305, "normalized_mutual_information": 0.5308211578110761, "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": 1.3530258021712098, "mutual_information": 1.3530258021712098, "normalized_mutual_information": 0.5611540773500936, "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": 1.3213013182349218, "mutual_information": 1.3213013182349218, "normalized_mutual_information": 0.5390459965964198, "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": 1.3217099630514653, "mutual_information": 1.3217099630514653, "normalized_mutual_information": 0.541214389546304, "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": 1.358879400483305, "mutual_information": 1.358879400483305, "normalized_mutual_information": 0.5567247591340135, "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": 1.356706149652343, "mutual_information": 1.356706149652343, "normalized_mutual_information": 0.5558234205610734, "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": 1.3106559075549928, "mutual_information": 1.3106559075549928, "normalized_mutual_information": 0.5384423841211962, "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": 1.3302889544243104, "mutual_information": 1.3302889544243104, "normalized_mutual_information": 0.5447894988928687, "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": 1.366412104934884, "mutual_information": 1.366412104934884, "normalized_mutual_information": 0.5599761480251414, "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": 1.3165157616871146, "mutual_information": 1.3165157616871146, "normalized_mutual_information": 0.5358522860939166, "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": 1.386608959224206, "mutual_information": 1.386608959224206, "normalized_mutual_information": 0.5752162600529171, "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": 1.3500971082517428, "mutual_information": 1.3500971082517428, "normalized_mutual_information": 0.5550676400824418, "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": 1.3147997541215932, "mutual_information": 1.3147997541215932, "normalized_mutual_information": 0.5404258533175003, "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": 1.4421976291942824, "mutual_information": 1.4421976291942824, "normalized_mutual_information": 0.5961722887534923, "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": 1.3806936213598642, "mutual_information": 1.3806936213598642, "normalized_mutual_information": 0.5690486195506804, "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": 1.3921192204500574, "mutual_information": 1.3921192204500574, "normalized_mutual_information": 0.5716606968399326, "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": 1.409913008820763, "mutual_information": 1.409913008820763, "normalized_mutual_information": 0.5797947603880234, "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": 1.4178367949185822, "mutual_information": 1.4178367949185822, "normalized_mutual_information": 0.5853045566869026, "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": 1.3779369322065056, "mutual_information": 1.3779369322065056, "normalized_mutual_information": 0.5719144147432887, "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": 1.3797164899107262, "mutual_information": 1.3797164899107262, "normalized_mutual_information": 0.5681334296715539, "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": 1.4090922260646115, "mutual_information": 1.4090922260646115, "normalized_mutual_information": 0.5791722782231696, "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": 1.349250493692356, "mutual_information": 1.349250493692356, "normalized_mutual_information": 0.5538054330343088, "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": 1.4576151552787824, "mutual_information": 1.4576151552787824, "normalized_mutual_information": 0.600835520635408, "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": 1.389999968390826, "mutual_information": 1.389999968390826, "normalized_mutual_information": 0.5728956000647433, "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": 1.3824774686493981, "mutual_information": 1.3824774686493981, "normalized_mutual_information": 0.5728595228189898, "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": 1.5136783604186455, "mutual_information": 1.5136783604186455, "normalized_mutual_information": 0.6235153420649485, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4250181594630213, "mutual_information": 1.4250181594630213, "normalized_mutual_information": 0.5857830219937677, "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": 1.4260700150675494, "mutual_information": 1.4260700150675494, "normalized_mutual_information": 0.5864610860675419, "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": 1.4710072974412263, "mutual_information": 1.4710072974412263, "normalized_mutual_information": 0.6063420142607178, "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": 1.4690956407321654, "mutual_information": 1.4690956407321654, "normalized_mutual_information": 0.6071742844306864, "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": 1.4445884472242791, "mutual_information": 1.4445884472242791, "normalized_mutual_information": 0.5976938219340653, "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": 1.4162210626349994, "mutual_information": 1.4162210626349994, "normalized_mutual_information": 0.5818668372624427, "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": 1.4753779644774045, "mutual_information": 1.4753779644774045, "normalized_mutual_information": 0.606398821214395, "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": 1.386608959224206, "mutual_information": 1.386608959224206, "normalized_mutual_information": 0.5752162600529171, "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": 1.468659992616848, "mutual_information": 1.468659992616848, "normalized_mutual_information": 0.602698891273053, "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": 1.4745616923693483, "mutual_information": 1.4745616923693483, "normalized_mutual_information": 0.606137974469758, "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": 1.449698287712678, "mutual_information": 1.449698287712678, "normalized_mutual_information": 0.5983785241122183, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4670372193717032, "mutual_information": 1.4670372193717032, "normalized_mutual_information": 0.6063591469263868, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4576151552787824, "mutual_information": 1.4576151552787824, "normalized_mutual_information": 0.600835520635408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4915588719053616, "mutual_information": 1.4915588719053616, "normalized_mutual_information": 0.6122303464084449, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5374252532633133, "mutual_information": 1.5374252532633133, "normalized_mutual_information": 0.6309380972834425, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 54, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5205764253291825, "mutual_information": 1.5205764253291825, "normalized_mutual_information": 0.623758132723033, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4712487616391974, "mutual_information": 1.4712487616391974, "normalized_mutual_information": 0.607265285064032, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.4574427947139206, "mutual_information": 1.4574427947139206, "normalized_mutual_information": 0.6006348939956543, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5177246618908935, "mutual_information": 1.5177246618908935, "normalized_mutual_information": 0.623362752490964, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.4421976291942824, "mutual_information": 1.4421976291942824, "normalized_mutual_information": 0.5961722887534923, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.4219802576208942, "mutual_information": 1.4219802576208942, "normalized_mutual_information": 0.587248933259135, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.5156607262368853, "mutual_information": 1.5156607262368853, "normalized_mutual_information": 0.6226109564245742, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.4853752504701774, "mutual_information": 1.4853752504701774, "normalized_mutual_information": 0.613243831915658, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4937787999228374, "mutual_information": 1.4937787999228374, "normalized_mutual_information": 0.6177732255857958, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.4710072974412263, "mutual_information": 1.4710072974412263, "normalized_mutual_information": 0.6063420142607178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5136783604186455, "mutual_information": 1.5136783604186455, "normalized_mutual_information": 0.6235153420649485, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5511632752880817, "mutual_information": 1.5511632752880817, "normalized_mutual_information": 0.6353691128253698, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 66, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5328174645718569, "mutual_information": 1.5328174645718569, "normalized_mutual_information": 0.6312860070753382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.521077499034136, "mutual_information": 1.521077499034136, "normalized_mutual_information": 0.6233789511938613, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.5107284872239124, "mutual_information": 1.5107284872239124, "normalized_mutual_information": 0.6201424093037836, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5453440136753684, "mutual_information": 1.5453440136753684, "normalized_mutual_information": 0.6332620399457501, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.4501867348685853, "mutual_information": 1.4501867348685853, "normalized_mutual_information": 0.5988581789154682, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.466687987605915, "mutual_information": 1.466687987605915, "normalized_mutual_information": 0.6042261376346186, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.541914471894742, "mutual_information": 1.541914471894742, "normalized_mutual_information": 0.6330896253007957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.513057515286415, "mutual_information": 1.513057515286415, "normalized_mutual_information": 0.6247396947978151, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.5, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5442571323349898, "mutual_information": 1.5442571323349898, "normalized_mutual_information": 0.6366475222296778, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.0, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.491095288800733, "mutual_information": 1.491095288800733, "normalized_mutual_information": 0.6140639321274418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5374252532633133, "mutual_information": 1.5374252532633133, "normalized_mutual_information": 0.6309380972834425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ -0.25, 0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5326584713218938, "mutual_information": 1.5326584713218938, "normalized_mutual_information": 0.6298776484915308, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.556725461728777, "mutual_information": 1.556725461728777, "normalized_mutual_information": 0.6371733877414361, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 79, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5164141520528347, "mutual_information": 1.5164141520528347, "normalized_mutual_information": 0.6209689154718463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.5354214787933074, "mutual_information": 1.5354214787933074, "normalized_mutual_information": 0.6297855332408835, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5452600002745747, "mutual_information": 1.5452600002745747, "normalized_mutual_information": 0.6339677416715975, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.4638074150574365, "mutual_information": 1.4638074150574365, "normalized_mutual_information": 0.6057496034174626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.4960693775106886, "mutual_information": 1.4960693775106886, "normalized_mutual_information": 0.6135780286437508, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.53113420742702, "mutual_information": 1.53113420742702, "normalized_mutual_information": 0.626831457156159, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.52945144039737, "mutual_information": 1.52945144039737, "normalized_mutual_information": 0.6296223480123965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5459858134338982, "mutual_information": 1.5459858134338982, "normalized_mutual_information": 0.6368383115539451, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5096231434112806, "mutual_information": 1.5096231434112806, "normalized_mutual_information": 0.6207537831298389, "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, 0.0 ], "objective": 1.5328174645718569, "mutual_information": 1.5328174645718569, "normalized_mutual_information": 0.6312860070753382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ -0.25, 0.75, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5341379518058798, "mutual_information": 1.5341379518058798, "normalized_mutual_information": 0.6298401510699626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.559027461431996, "mutual_information": 1.559027461431996, "normalized_mutual_information": 0.6399688825315093, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 91, "delta_rotation_deg_xyz": [ -0.25, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5511632752880817, "mutual_information": 1.5511632752880817, "normalized_mutual_information": 0.6353691128253698, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.5438839798477837, "mutual_information": 1.5438839798477837, "normalized_mutual_information": 0.6347366250478154, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5461669772604456, "mutual_information": 1.5461669772604456, "normalized_mutual_information": 0.6343241987628832, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.4677928437387815, "mutual_information": 1.4677928437387815, "normalized_mutual_information": 0.6068337049601975, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.5087245531409452, "mutual_information": 1.5087245531409452, "normalized_mutual_information": 0.6173503745272573, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.5535160296284232, "mutual_information": 1.5535160296284232, "normalized_mutual_information": 0.635989075820695, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.537671402867966, "mutual_information": 1.537671402867966, "normalized_mutual_information": 0.6341595484202696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5527002106840244, "mutual_information": 1.5527002106840244, "normalized_mutual_information": 0.6367026149826164, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.52854863715468, "mutual_information": 1.52854863715468, "normalized_mutual_information": 0.6272412021254798, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5175220098571518, "mutual_information": 1.5175220098571518, "normalized_mutual_information": 0.6257530745805011, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ -0.25, 0.75, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.5542017647235198, "mutual_information": 1.5542017647235198, "normalized_mutual_information": 0.6370011894011941, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.549820054220221, "mutual_information": 1.549820054220221, "normalized_mutual_information": 0.6377168929966882, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.556725461728777, "mutual_information": 1.556725461728777, "normalized_mutual_information": 0.6371733877414361, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.5287948799395448, "mutual_information": 1.5287948799395448, "normalized_mutual_information": 0.6303274207444994, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5614307671894718, "mutual_information": 1.5614307671894718, "normalized_mutual_information": 0.6402015607837194, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 106, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.5132252892285283, "mutual_information": 1.5132252892285283, "normalized_mutual_information": 0.6232225965729709, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.5054978715910687, "mutual_information": 1.5054978715910687, "normalized_mutual_information": 0.6140640741041057, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.5541931824537158, "mutual_information": 1.5541931824537158, "normalized_mutual_information": 0.6367126523943952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.534400339113868, "mutual_information": 1.534400339113868, "normalized_mutual_information": 0.632855656572218, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5524589669995217, "mutual_information": 1.5524589669995217, "normalized_mutual_information": 0.6380600526275478, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5320339149892075, "mutual_information": 1.5320339149892075, "normalized_mutual_information": 0.6295591366351281, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5443266278854517, "mutual_information": 1.5443266278854517, "normalized_mutual_information": 0.6368117886088415, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ -0.25, 0.75, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5473164564946338, "mutual_information": 1.5473164564946338, "normalized_mutual_information": 0.6383624430798832, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5746196090137996, "mutual_information": 1.5746196090137996, "normalized_mutual_information": 0.6469907688206834, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 115, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5461669772604456, "mutual_information": 1.5461669772604456, "normalized_mutual_information": 0.6343241987628832, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.559027461431996, "mutual_information": 1.559027461431996, "normalized_mutual_information": 0.6399688825315093, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5545903368099123, "mutual_information": 1.5545903368099123, "normalized_mutual_information": 0.6365408322677323, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.5166510778604974, "mutual_information": 1.5166510778604974, "normalized_mutual_information": 0.6232979711048624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.5118596249653855, "mutual_information": 1.5118596249653855, "normalized_mutual_information": 0.6168757732913809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.567466866014499, "mutual_information": 1.567466866014499, "normalized_mutual_information": 0.6428585641175414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.5597964606482304, "mutual_information": 1.5597964606482304, "normalized_mutual_information": 0.6418320215492108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5309492931073452, "mutual_information": 1.5309492931073452, "normalized_mutual_information": 0.6311522234399857, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5427662213999025, "mutual_information": 1.5427662213999025, "normalized_mutual_information": 0.6300512574090178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5601563080910335, "mutual_information": 1.5601563080910335, "normalized_mutual_information": 0.6421875430621988, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ -0.25, 0.75, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5671269494199673, "mutual_information": 1.5671269494199673, "normalized_mutual_information": 0.6439109574214542, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ -0.25, 0.5, -1.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5600929237594094, "mutual_information": 1.5600929237594094, "normalized_mutual_information": 0.641266715973404, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5614307671894718, "mutual_information": 1.5614307671894718, "normalized_mutual_information": 0.6402015607837194, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.549820054220221, "mutual_information": 1.549820054220221, "normalized_mutual_information": 0.6377168929966882, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5825918877478997, "mutual_information": 1.5825918877478997, "normalized_mutual_information": 0.6487681467819297, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 130, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.509057213984211, "mutual_information": 1.509057213984211, "normalized_mutual_information": 0.6195820247364274, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.5074057202787507, "mutual_information": 1.5074057202787507, "normalized_mutual_information": 0.6170451860260212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.5739032610781731, "mutual_information": 1.5739032610781731, "normalized_mutual_information": 0.6464321919050976, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.5714449150678373, "mutual_information": 1.5714449150678373, "normalized_mutual_information": 0.6468295994128207, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.537598238210405, "mutual_information": 1.537598238210405, "normalized_mutual_information": 0.6295807557220333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5225511999237933, "mutual_information": 1.5225511999237933, "normalized_mutual_information": 0.6233601197695733, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5702093951202396, "mutual_information": 1.5702093951202396, "normalized_mutual_information": 0.6444310324150653, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ -0.25, 0.75, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.554694429790888, "mutual_information": 1.554694429790888, "normalized_mutual_information": 0.6358648082813995, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ -0.25, 0.5, -1.0 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.564736803366246, "mutual_information": 1.564736803366246, "normalized_mutual_information": 0.6402089978126456, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5545903368099123, "mutual_information": 1.5545903368099123, "normalized_mutual_information": 0.6365408322677323, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.5746196090137996, "mutual_information": 1.5746196090137996, "normalized_mutual_information": 0.6469907688206834, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.30000000000000004, 0.30000000000000004, 0.0 ], "objective": 1.5468070144201127, "mutual_information": 1.5468070144201127, "normalized_mutual_information": 0.6355531541711193, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.20000000000000004, 0.0 ], "objective": 1.5054260138934616, "mutual_information": 1.5054260138934616, "normalized_mutual_information": 0.6194714249806003, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.4, 0.0 ], "objective": 1.4996704066663689, "mutual_information": 1.4996704066663689, "normalized_mutual_information": 0.6127308614078532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.1 ], "objective": 1.5764195677599775, "mutual_information": 1.5764195677599775, "normalized_mutual_information": 0.6440983772963144, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.1 ], "objective": 1.5801564514211066, "mutual_information": 1.5801564514211066, "normalized_mutual_information": 0.6503584537052158, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ -0.375, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5524894462903551, "mutual_information": 1.5524894462903551, "normalized_mutual_information": 0.6375469118763663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ -0.125, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.563109545625937, "mutual_information": 1.563109545625937, "normalized_mutual_information": 0.6389070349327045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ -0.25, 0.375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.576511027363311, "mutual_information": 1.576511027363311, "normalized_mutual_information": 0.6476319921460479, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ -0.25, 0.625, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5585306446256422, "mutual_information": 1.5585306446256422, "normalized_mutual_information": 0.6403505018390826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5677548886736552, "mutual_information": 1.5677548886736552, "normalized_mutual_information": 0.6420488554683902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.625 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.559567500053663, "mutual_information": 1.559567500053663, "normalized_mutual_information": 0.6401967863610617, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.5766356592550081, "mutual_information": 1.5766356592550081, "normalized_mutual_information": 0.6468628020260857, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.25, 0.30000000000000004, 0.0 ], "objective": 1.5447483226077834, "mutual_information": 1.5447483226077834, "normalized_mutual_information": 0.6352740369035667, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.25000000000000006, 0.0 ], "objective": 1.5350014985288123, "mutual_information": 1.5350014985288123, "normalized_mutual_information": 0.6279528628512838, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.35000000000000003, 0.0 ], "objective": 1.5364397748834981, "mutual_information": 1.5364397748834981, "normalized_mutual_information": 0.6277678428185884, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.05 ], "objective": 1.5753063772189229, "mutual_information": 1.5753063772189229, "normalized_mutual_information": 0.6446954292244028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.05 ], "objective": 1.5786283713170928, "mutual_information": 1.5786283713170928, "normalized_mutual_information": 0.6488524796797762, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ -0.3125, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.569670437881401, "mutual_information": 1.569670437881401, "normalized_mutual_information": 0.643458717141753, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ -0.1875, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5734558338905797, "mutual_information": 1.5734558338905797, "normalized_mutual_information": 0.6439706329219931, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5880192636698176, "mutual_information": 1.5880192636698176, "normalized_mutual_information": 0.6502651504276591, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 161, "delta_rotation_deg_xyz": [ -0.25, 0.5625, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5613918705106744, "mutual_information": 1.5613918705106744, "normalized_mutual_information": 0.6409787943622914, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.8125 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.574233900111728, "mutual_information": 1.574233900111728, "normalized_mutual_information": 0.6452669301783236, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.6875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5748274950509478, "mutual_information": 1.5748274950509478, "normalized_mutual_information": 0.6452830547111987, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.30000000000000004, 0.0 ], "objective": 1.580237144936893, "mutual_information": 1.580237144936893, "normalized_mutual_information": 0.648200551333924, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.225, 0.30000000000000004, 0.0 ], "objective": 1.5652451601832258, "mutual_information": 1.5652451601832258, "normalized_mutual_information": 0.641842355557566, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.275, 0.0 ], "objective": 1.570358277746692, "mutual_information": 1.570358277746692, "normalized_mutual_information": 0.6446234550005455, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.32500000000000007, 0.0 ], "objective": 1.5651476916706546, "mutual_information": 1.5651476916706546, "normalized_mutual_information": 0.639534344307136, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.025 ], "objective": 1.577518388414098, "mutual_information": 1.577518388414098, "normalized_mutual_information": 0.6462615302134559, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.025 ], "objective": 1.576548382690726, "mutual_information": 1.576548382690726, "normalized_mutual_information": 0.6472734646419673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ -0.3125, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5775745837632964, "mutual_information": 1.5775745837632964, "normalized_mutual_information": 0.646624442072747, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ -0.1875, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.576420856398568, "mutual_information": 1.576420856398568, "normalized_mutual_information": 0.6457311008771457, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ -0.25, 0.375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.576511027363311, "mutual_information": 1.576511027363311, "normalized_mutual_information": 0.6476319921460479, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5825918877478997, "mutual_information": 1.5825918877478997, "normalized_mutual_information": 0.6487681467819297, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.8125 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.586503686046779, "mutual_information": 1.586503686046779, "normalized_mutual_information": 0.6497848178895672, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.6875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5815658209003776, "mutual_information": 1.5815658209003776, "normalized_mutual_information": 0.6478247514833749, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.30000000000000004, 0.0 ], "objective": 1.576841439544901, "mutual_information": 1.576841439544901, "normalized_mutual_information": 0.6473368472785418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.225, 0.30000000000000004, 0.0 ], "objective": 1.583252507398285, "mutual_information": 1.583252507398285, "normalized_mutual_information": 0.6494116637838452, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.275, 0.0 ], "objective": 1.57244637874265, "mutual_information": 1.57244637874265, "normalized_mutual_information": 0.6439561745576555, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.32500000000000007, 0.0 ], "objective": 1.5680324108991253, "mutual_information": 1.5680324108991253, "normalized_mutual_information": 0.6408556047590425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.025 ], "objective": 1.5874376299802317, "mutual_information": 1.5874376299802317, "normalized_mutual_information": 0.6503524849125182, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.025 ], "objective": 1.5823768920628634, "mutual_information": 1.5823768920628634, "normalized_mutual_information": 0.6495988324730146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ -0.28125, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.578617075051324, "mutual_information": 1.578617075051324, "normalized_mutual_information": 0.647465732085346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ -0.21875, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5790187331124972, "mutual_information": 1.5790187331124972, "normalized_mutual_information": 0.6464223966332505, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ -0.25, 0.40625, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5883977939101197, "mutual_information": 1.5883977939101197, "normalized_mutual_information": 0.6511583010155274, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ -0.25, 0.46875, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5843575710181323, "mutual_information": 1.5843575710181323, "normalized_mutual_information": 0.649485652144191, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.78125 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5874148902948584, "mutual_information": 1.5874148902948584, "normalized_mutual_information": 0.6500088369996466, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.71875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5877097009834855, "mutual_information": 1.5877097009834855, "normalized_mutual_information": 0.6496735696804804, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.1875, 0.30000000000000004, 0.0 ], "objective": 1.5801592826228046, "mutual_information": 1.5801592826228046, "normalized_mutual_information": 0.6492407661549403, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.21250000000000002, 0.30000000000000004, 0.0 ], "objective": 1.5818212364659388, "mutual_information": 1.5818212364659388, "normalized_mutual_information": 0.6480072031883962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.28750000000000003, 0.0 ], "objective": 1.5803393518294129, "mutual_information": 1.5803393518294129, "normalized_mutual_information": 0.647169353861425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.31250000000000006, 0.0 ], "objective": 1.5721604460649656, "mutual_information": 1.5721604460649656, "normalized_mutual_information": 0.645608580730071, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, -0.0125 ], "objective": 1.5838769838875493, "mutual_information": 1.5838769838875493, "normalized_mutual_information": 0.64892303387132, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5909775678106062, "mutual_information": 1.5909775678106062, "normalized_mutual_information": 0.6522291495400658, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 194, "delta_rotation_deg_xyz": [ -0.28125, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.580638215248382, "mutual_information": 1.580638215248382, "normalized_mutual_information": 0.6494972751825469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ -0.21875, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.582391575425478, "mutual_information": 1.582391575425478, "normalized_mutual_information": 0.6481004009083464, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ -0.25, 0.40625, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5777609795063547, "mutual_information": 1.5777609795063547, "normalized_mutual_information": 0.6477660357098398, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ -0.25, 0.46875, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5808184886198378, "mutual_information": 1.5808184886198378, "normalized_mutual_information": 0.6492961376808689, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.78125 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5878399420573601, "mutual_information": 1.5878399420573601, "normalized_mutual_information": 0.6514323992381109, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.71875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5898423033431393, "mutual_information": 1.5898423033431393, "normalized_mutual_information": 0.6515646517303254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.1875, 0.30000000000000004, 0.0125 ], "objective": 1.576297470543783, "mutual_information": 1.576297470543783, "normalized_mutual_information": 0.6478415337288518, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.21250000000000002, 0.30000000000000004, 0.0125 ], "objective": 1.5784228831003102, "mutual_information": 1.5784228831003102, "normalized_mutual_information": 0.6468554943552934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.28750000000000003, 0.0125 ], "objective": 1.5866936398103204, "mutual_information": 1.5866936398103204, "normalized_mutual_information": 0.6495760044307466, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.31250000000000006, 0.0125 ], "objective": 1.5820283230204844, "mutual_information": 1.5820283230204844, "normalized_mutual_information": 0.6497424213973239, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.5880192636698176, "mutual_information": 1.5880192636698176, "normalized_mutual_information": 0.6502651504276591, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.025 ], "objective": 1.5823768920628634, "mutual_information": 1.5823768920628634, "normalized_mutual_information": 0.6495988324730146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ -0.265625, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5919043521674716, "mutual_information": 1.5919043521674716, "normalized_mutual_information": 0.6529650771944112, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ -0.234375, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.590046156396588, "mutual_information": 1.590046156396588, "normalized_mutual_information": 0.6514430077264773, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ -0.25, 0.421875, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5832434338952848, "mutual_information": 1.5832434338952848, "normalized_mutual_information": 0.6502243261125847, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ -0.25, 0.453125, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.580327499617038, "mutual_information": 1.580327499617038, "normalized_mutual_information": 0.648863625178414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.765625 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5890056507155854, "mutual_information": 1.5890056507155854, "normalized_mutual_information": 0.6516059063547414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.592827047677653, "mutual_information": 1.592827047677653, "normalized_mutual_information": 0.6528674802930343, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 212, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.19375, 0.30000000000000004, 0.0125 ], "objective": 1.5858902090199212, "mutual_information": 1.5858902090199212, "normalized_mutual_information": 0.6509429443073417, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.20625000000000002, 0.30000000000000004, 0.0125 ], "objective": 1.5787757357194894, "mutual_information": 1.5787757357194894, "normalized_mutual_information": 0.6475924496803762, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.29375000000000007, 0.0125 ], "objective": 1.5866348144105797, "mutual_information": 1.5866348144105797, "normalized_mutual_information": 0.6501308552204823, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30625, 0.0125 ], "objective": 1.584032811193912, "mutual_information": 1.584032811193912, "normalized_mutual_information": 0.6498111289135221, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.00625 ], "objective": 1.591257686899289, "mutual_information": 1.591257686899289, "normalized_mutual_information": 0.6517438106143315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.018750000000000003 ], "objective": 1.5886785846462024, "mutual_information": 1.5886785846462024, "normalized_mutual_information": 0.6516211591713761, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ -0.265625, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5866303909798642, "mutual_information": 1.5866303909798642, "normalized_mutual_information": 0.6514029906721283, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ -0.234375, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.58954649069256, "mutual_information": 1.58954649069256, "normalized_mutual_information": 0.6510818881525849, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ -0.25, 0.421875, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5829998741133495, "mutual_information": 1.5829998741133495, "normalized_mutual_information": 0.650205792213615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ -0.25, 0.453125, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5815726451471088, "mutual_information": 1.5815726451471088, "normalized_mutual_information": 0.6492680091381705, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5909775678106062, "mutual_information": 1.5909775678106062, "normalized_mutual_information": 0.6522291495400658, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.71875 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0125 ], "objective": 1.5898423033431393, "mutual_information": 1.5898423033431393, "normalized_mutual_information": 0.6515646517303254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.19375, 0.30000000000000004, 0.0125 ], "objective": 1.5869971189547531, "mutual_information": 1.5869971189547531, "normalized_mutual_information": 0.6513254378136235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.20625000000000002, 0.30000000000000004, 0.0125 ], "objective": 1.5805204322995052, "mutual_information": 1.5805204322995052, "normalized_mutual_information": 0.6481380840795522, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.29375000000000007, 0.0125 ], "objective": 1.5853220923397313, "mutual_information": 1.5853220923397313, "normalized_mutual_information": 0.6495411309374052, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30625, 0.0125 ], "objective": 1.582206837206127, "mutual_information": 1.582206837206127, "normalized_mutual_information": 0.6489287742904944, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.00625 ], "objective": 1.5918631001803403, "mutual_information": 1.5918631001803403, "normalized_mutual_information": 0.6526384625708058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ -0.25, 0.4375, -0.734375 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.018750000000000003 ], "objective": 1.5912498015512409, "mutual_information": 1.5912498015512409, "normalized_mutual_information": 0.6525329472711987, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.966148904266218, "translation_m": 0.39548230048890937, "recovered": false }, "mi_seconds": 0.49837104001198895, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.6417446602663568, "translation_m": 0.389584226148224, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.0837020716242411, "archived_cost": 1030.913441564282, "common_supported": 1424, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1070.3614758835251, "supported_cost": 96.50436029470566, "signed_quantiles_m": [ -58.28140427519833, -1.184093673279748, -0.057314360026133215, 0.32800442376424427, 32.413554359928426 ], "negative_fraction": 0.6123117223313687, "absolute_over_1m_fraction": 0.1951538965291421, "common_support_cost": 87.43121279771634 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1066.627970646694, "supported_cost": 92.7708550578747, "signed_quantiles_m": [ -58.19770220357409, -1.1003916016555069, 0.02638771159810789, 0.41170649538848536, 32.497256431552664 ], "negative_fraction": 0.46430910281597904, "absolute_over_1m_fraction": 0.18664047151277013, "common_support_cost": 84.03409081310876 }, "fit_zero": { "total": 12288, "supported": 1648, "cost": 1032.187977318299, "supported_cost": 69.28121123103621, "signed_quantiles_m": [ -58.048684853789986, -0.670071435894625, 0.051469236536486385, 1.7842932045230648, 33.678955606145806 ], "negative_fraction": 0.404126213592233, "absolute_over_1m_fraction": 0.21055825242718446, "common_support_cost": 53.09184049188298 }, "fit_fitted_bias": { "total": 12288, "supported": 1648, "cost": 1030.913441564282, "supported_cost": 68.00667547701914, "signed_quantiles_m": [ -57.96498278216575, -0.5863693642703839, 0.13517130816072748, 1.867995276147306, 33.762657677770044 ], "negative_fraction": 0.24939320388349515, "absolute_over_1m_fraction": 0.2111650485436893, "common_support_cost": 52.17994305025035 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.4244757356827638, "translation_m": 0.5877600719866853, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4424570304186675, "archived_cost": 1009.1870008687355, "common_supported": 1411, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 90.48036290754315 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1060.599601792614, "supported_cost": 86.7424862037949, "signed_quantiles_m": [ -57.859064258406306, -0.7259385248343214, 0.38709652323798754, 0.7704614541829118, 32.81811643340196 ], "negative_fraction": 0.22593320235756384, "absolute_over_1m_fraction": 0.17157825802226587, "common_support_cost": 80.44978418809873 }, "fit_zero": { "total": 12288, "supported": 1794, "cost": 1033.1070468918208, "supported_cost": 83.41309921139421, "signed_quantiles_m": [ -34.844220857057785, -0.5754711410546234, -0.18037162499692982, 3.1633346310488686, 35.06887646578191 ], "negative_fraction": 0.5875139353400223, "absolute_over_1m_fraction": 0.23244147157190637, "common_support_cost": 59.66327923691472 }, "fit_fitted_bias": { "total": 12288, "supported": 1794, "cost": 1009.1870008687356, "supported_cost": 59.49305318830909, "signed_quantiles_m": [ -34.40176382663912, -0.13301411063595583, 0.2620854054217377, 3.6057916614675363, 35.51133349620058 ], "negative_fraction": 0.20903010033444816, "absolute_over_1m_fraction": 0.25752508361204013, "common_support_cost": 44.702862952299185 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.4244757356827638, "translation_m": 0.5877600719866853, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.46720755795446345, "archived_cost": 1009.1307127216397, "common_supported": 1411, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 90.48036290754315 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1060.133953819945, "supported_cost": 86.2768382311258, "signed_quantiles_m": [ -57.834313730870505, -0.7011879972985254, 0.4118470507737835, 0.7952119817187078, 32.84286696093776 ], "negative_fraction": 0.22134905042567124, "absolute_over_1m_fraction": 0.17092337917485265, "common_support_cost": 80.05136842111312 }, "fit_zero": { "total": 12288, "supported": 1794, "cost": 1033.1070468918208, "supported_cost": 83.41309921139421, "signed_quantiles_m": [ -34.844220857057785, -0.5754711410546234, -0.18037162499692982, 3.1633346310488686, 35.06887646578191 ], "negative_fraction": 0.5875139353400223, "absolute_over_1m_fraction": 0.23244147157190637, "common_support_cost": 59.66327923691472 }, "fit_fitted_bias": { "total": 12288, "supported": 1794, "cost": 1009.1307127216397, "supported_cost": 59.43676504121321, "signed_quantiles_m": [ -34.37701329910332, -0.10826358310015992, 0.2868359329575336, 3.630542189003332, 35.53608402373638 ], "negative_fraction": 0.1750278706800446, "absolute_over_1m_fraction": 0.2630992196209587, "common_support_cost": 44.695560770997815 } } } ] }, { "case_id": "2011_09_26_0009-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4947772517789984, -0.49996981832296017, 0.49991278639474485, 0.5052849274292378 ] }, "transform_camera_lidar": { "translation_m": [ 0.1070524478595304, 0.02453328146653999, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4948454281550118, -0.499903781653095, 0.5001180044316611, 0.5050803826781542 ] }, "best_delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "best_delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.53499034999186, "normalized_mutual_information": 0.6383347954076942, "visible_point_count": 1560, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.5365185589441959, "normalized_mutual_information": 0.6396326389021876, "visible_point_count": 497, "projected_count_before_visibility": 580 }, { "frame_id": "frame-223", "mutual_information": 1.426728157542588, "normalized_mutual_information": 0.6049560280493848, "visible_point_count": 505, "projected_count_before_visibility": 614 }, { "frame_id": "frame-334", "mutual_information": 1.6417243334887965, "normalized_mutual_information": 0.6704157192715103, "visible_point_count": 558, "projected_count_before_visibility": 683 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5882735878398202, "normalized_mutual_information": 0.6608316814384089, "visible_point_count": 1493, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.614434681176725, "normalized_mutual_information": 0.67691288652033, "visible_point_count": 475, "projected_count_before_visibility": 554 }, { "frame_id": "frame-223", "mutual_information": 1.4155992567618236, "normalized_mutual_information": 0.5970392789090414, "visible_point_count": 489, "projected_count_before_visibility": 589 }, { "frame_id": "frame-334", "mutual_information": 1.7347868255809118, "normalized_mutual_information": 0.7085428788858553, "visible_point_count": 529, "projected_count_before_visibility": 655 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.53499034999186, "mutual_information": 1.53499034999186, "normalized_mutual_information": 0.6383347954076942, "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": 1.5155524064166885, "mutual_information": 1.5155524064166885, "normalized_mutual_information": 0.6337305229054314, "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": 1.504910797723262, "mutual_information": 1.504910797723262, "normalized_mutual_information": 0.6214769610215737, "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": 1.5143458461636445, "mutual_information": 1.5143458461636445, "normalized_mutual_information": 0.6325565937318635, "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": 1.510297332238456, "mutual_information": 1.510297332238456, "normalized_mutual_information": 0.6280635306719174, "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": 1.5250952197977459, "mutual_information": 1.5250952197977459, "normalized_mutual_information": 0.6371774985648747, "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": 1.5227395768177594, "mutual_information": 1.5227395768177594, "normalized_mutual_information": 0.632717332337222, "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": 1.5275465704141988, "mutual_information": 1.5275465704141988, "normalized_mutual_information": 0.6365090037848172, "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": 1.5227778137892274, "mutual_information": 1.5227778137892274, "normalized_mutual_information": 0.6343916608371697, "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": 1.4801126414653953, "mutual_information": 1.4801126414653953, "normalized_mutual_information": 0.611496520763271, "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": 1.5749587536417902, "mutual_information": 1.5749587536417902, "normalized_mutual_information": 0.6553207431672544, "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": 1.5348799299371982, "mutual_information": 1.5348799299371982, "normalized_mutual_information": 0.6403699418979288, "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": 1.492360752276446, "mutual_information": 1.492360752276446, "normalized_mutual_information": 0.6240578244823275, "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": 1.4878725775031778, "mutual_information": 1.4878725775031778, "normalized_mutual_information": 0.6211829555912655, "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": 1.5481779875054216, "mutual_information": 1.5481779875054216, "normalized_mutual_information": 0.6396963720830685, "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": 1.5251521728953243, "mutual_information": 1.5251521728953243, "normalized_mutual_information": 0.636435353044647, "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": 1.55207463357491, "mutual_information": 1.55207463357491, "normalized_mutual_information": 0.6448690228188146, "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": 1.5503028467855533, "mutual_information": 1.5503028467855533, "normalized_mutual_information": 0.6470864101222081, "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": 1.560642208878017, "mutual_information": 1.560642208878017, "normalized_mutual_information": 0.6479429696723543, "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": 1.5175620199708921, "mutual_information": 1.5175620199708921, "normalized_mutual_information": 0.6353393696896023, "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": 1.5411206729734772, "mutual_information": 1.5411206729734772, "normalized_mutual_information": 0.6423167123527597, "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": 1.53499034999186, "mutual_information": 1.53499034999186, "normalized_mutual_information": 0.6383347954076942, "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": 1.4346980439740606, "mutual_information": 1.4346980439740606, "normalized_mutual_information": 0.5963507124126539, "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": 1.5608517747095583, "mutual_information": 1.5608517747095583, "normalized_mutual_information": 0.6487955800497092, "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": 1.5275523608224806, "mutual_information": 1.5275523608224806, "normalized_mutual_information": 0.6392394505289866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.528708080767742, "mutual_information": 1.528708080767742, "normalized_mutual_information": 0.6356178363764039, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5503652923517854, "mutual_information": 1.5503652923517854, "normalized_mutual_information": 0.6430449541567875, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.0, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.533234889867608, "mutual_information": 1.533234889867608, "normalized_mutual_information": 0.6404224742093555, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.0, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5576414415318844, "mutual_information": 1.5576414415318844, "normalized_mutual_information": 0.6480732037634466, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5491465412893346, "mutual_information": 1.5491465412893346, "normalized_mutual_information": 0.6457858110124092, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5553397437819447, "mutual_information": 1.5553397437819447, "normalized_mutual_information": 0.6466190334320182, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.1, 0.0 ], "objective": 1.5420787885045781, "mutual_information": 1.5420787885045781, "normalized_mutual_information": 0.6426433457548079, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5780286138789625, "mutual_information": 1.5780286138789625, "normalized_mutual_information": 0.6564503652877475, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, 0.0 ], "objective": 1.5408098235221346, "mutual_information": 1.5408098235221346, "normalized_mutual_information": 0.6432452256407123, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.15000000000000002, 0.0 ], "objective": 1.5182746726675183, "mutual_information": 1.5182746726675183, "normalized_mutual_information": 0.6304757835238335, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.05 ], "objective": 1.5657690706122462, "mutual_information": 1.5657690706122462, "normalized_mutual_information": 0.6509601255769107, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.05 ], "objective": 1.5534770514035976, "mutual_information": 1.5534770514035976, "normalized_mutual_information": 0.6476884502896371, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5410924367346082, "mutual_information": 1.5410924367346082, "normalized_mutual_information": 0.642897675466717, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5408987825161418, "mutual_information": 1.5408987825161418, "normalized_mutual_information": 0.6394868887140813, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.0, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5699113336562391, "mutual_information": 1.5699113336562391, "normalized_mutual_information": 0.6529410608679744, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.0, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5437038626236628, "mutual_information": 1.5437038626236628, "normalized_mutual_information": 0.6420226549571307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5550703740941139, "mutual_information": 1.5550703740941139, "normalized_mutual_information": 0.6464905495891969, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5770765501034285, "mutual_information": 1.5770765501034285, "normalized_mutual_information": 0.6568366509467957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5749587536417902, "mutual_information": 1.5749587536417902, "normalized_mutual_information": 0.6553207431672544, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.5411206729734772, "mutual_information": 1.5411206729734772, "normalized_mutual_information": 0.6423167123527597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.05, 0.0 ], "objective": 1.5230758900271333, "mutual_information": 1.5230758900271333, "normalized_mutual_information": 0.6362463164511202, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.15000000000000002, 0.0 ], "objective": 1.5212024658923724, "mutual_information": 1.5212024658923724, "normalized_mutual_information": 0.6317049426079925, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.05 ], "objective": 1.556583002220763, "mutual_information": 1.556583002220763, "normalized_mutual_information": 0.6478032815502198, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.05 ], "objective": 1.5539189320186881, "mutual_information": 1.5539189320186881, "normalized_mutual_information": 0.6473034905676297, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.0625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5666305390726007, "mutual_information": 1.5666305390726007, "normalized_mutual_information": 0.6524132903314604, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.0625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5668600434992426, "mutual_information": 1.5668600434992426, "normalized_mutual_information": 0.6519175508969327, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.0, -0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5632451751321, "mutual_information": 1.5632451751321, "normalized_mutual_information": 0.65163878773665, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.0, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5596108806683973, "mutual_information": 1.5596108806683973, "normalized_mutual_information": 0.649504693394947, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5672043662413524, "mutual_information": 1.5672043662413524, "normalized_mutual_information": 0.6517394874570952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5765574443135766, "mutual_information": 1.5765574443135766, "normalized_mutual_information": 0.6560124154734233, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.1, 0.0 ], "objective": 1.5659732217357527, "mutual_information": 1.5659732217357527, "normalized_mutual_information": 0.6517460616263305, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.1, 0.0 ], "objective": 1.5564021168624926, "mutual_information": 1.5564021168624926, "normalized_mutual_information": 0.6479026701445324, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.07500000000000001, 0.0 ], "objective": 1.546904729494934, "mutual_information": 1.546904729494934, "normalized_mutual_information": 0.6445840409579199, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.125, 0.0 ], "objective": 1.5530843532272176, "mutual_information": 1.5530843532272176, "normalized_mutual_information": 0.644777142151745, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.025 ], "objective": 1.5628747185540472, "mutual_information": 1.5628747185540472, "normalized_mutual_information": 0.651558041167214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.025 ], "objective": 1.5600581913702982, "mutual_information": 1.5600581913702982, "normalized_mutual_information": 0.6495057027190944, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.03125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5658782325319003, "mutual_information": 1.5658782325319003, "normalized_mutual_information": 0.6520927101795114, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.03125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5753688228233031, "mutual_information": 1.5753688228233031, "normalized_mutual_information": 0.6562504964504304, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, -0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5740343949587812, "mutual_information": 1.5740343949587812, "normalized_mutual_information": 0.6557070514188573, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.565323618228082, "mutual_information": 1.565323618228082, "normalized_mutual_information": 0.6510823372926376, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.569819071759559, "mutual_information": 1.569819071759559, "normalized_mutual_information": 0.6533889811674826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5840904695878066, "mutual_information": 1.5840904695878066, "normalized_mutual_information": 0.6589208416152648, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.037500000000000006, 0.1, 0.0 ], "objective": 1.576264688676685, "mutual_information": 1.576264688676685, "normalized_mutual_information": 0.6561817690499147, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0625, 0.1, 0.0 ], "objective": 1.561255176057685, "mutual_information": 1.561255176057685, "normalized_mutual_information": 0.6498056434577257, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.08750000000000001, 0.0 ], "objective": 1.5592712358166552, "mutual_information": 1.5592712358166552, "normalized_mutual_information": 0.6480965690749495, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1125, 0.0 ], "objective": 1.5612427295537241, "mutual_information": 1.5612427295537241, "normalized_mutual_information": 0.6483384953374403, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.0125 ], "objective": 1.5773548568810234, "mutual_information": 1.5773548568810234, "normalized_mutual_information": 0.6563752284766684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0125 ], "objective": 1.5720570286661288, "mutual_information": 1.5720570286661288, "normalized_mutual_information": 0.6544404845245883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.03125, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.572964315437403, "mutual_information": 1.572964315437403, "normalized_mutual_information": 0.6535904230639248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.03125, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.568412797512493, "mutual_information": 1.568412797512493, "normalized_mutual_information": 0.653926765883395, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, -0.03125, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.578288429530521, "mutual_information": 1.578288429530521, "normalized_mutual_information": 0.657395389657789, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.03125, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5658846885074464, "mutual_information": 1.5658846885074464, "normalized_mutual_information": 0.6515073615021264, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5780286138789625, "mutual_information": 1.5780286138789625, "normalized_mutual_information": 0.6564503652877475, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5765574443135766, "mutual_information": 1.5765574443135766, "normalized_mutual_information": 0.6560124154734233, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.037500000000000006, 0.1, 0.0 ], "objective": 1.577033515317723, "mutual_information": 1.577033515317723, "normalized_mutual_information": 0.6567323210717823, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.0625, 0.1, 0.0 ], "objective": 1.5594675876100634, "mutual_information": 1.5594675876100634, "normalized_mutual_information": 0.6494381054012708, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.08750000000000001, 0.0 ], "objective": 1.569199091229768, "mutual_information": 1.569199091229768, "normalized_mutual_information": 0.6522678723344805, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1125, 0.0 ], "objective": 1.568816634909832, "mutual_information": 1.568816634909832, "normalized_mutual_information": 0.6513522950970904, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.0125 ], "objective": 1.5788687731648103, "mutual_information": 1.5788687731648103, "normalized_mutual_information": 0.6571092392306601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0125 ], "objective": 1.572133325343529, "mutual_information": 1.572133325343529, "normalized_mutual_information": 0.6543440691838328, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.015625, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5704026160523046, "mutual_information": 1.5704026160523046, "normalized_mutual_information": 0.653695850255089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.015625, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5791914461727246, "mutual_information": 1.5791914461727246, "normalized_mutual_information": 0.6570834421413657, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5882735878398202, "mutual_information": 1.5882735878398202, "normalized_mutual_information": 0.6608316814384089, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.0, 0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5749162605354865, "mutual_information": 1.5749162605354865, "normalized_mutual_information": 0.6552729009861148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.015625 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5800544455191048, "mutual_information": 1.5800544455191048, "normalized_mutual_information": 0.6573445971309269, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.046875 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5839739512843316, "mutual_information": 1.5839739512843316, "normalized_mutual_information": 0.6590739293094332, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.043750000000000004, 0.1, 0.0 ], "objective": 1.5833349079624497, "mutual_information": 1.5833349079624497, "normalized_mutual_information": 0.659021315308839, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05625, 0.1, 0.0 ], "objective": 1.5732183924530165, "mutual_information": 1.5732183924530165, "normalized_mutual_information": 0.6542647832879963, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.09375, 0.0 ], "objective": 1.5766393091261577, "mutual_information": 1.5766393091261577, "normalized_mutual_information": 0.6554471008437656, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.10625000000000001, 0.0 ], "objective": 1.5722941651441484, "mutual_information": 1.5722941651441484, "normalized_mutual_information": 0.6534775537116692, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.00625 ], "objective": 1.576096591513928, "mutual_information": 1.576096591513928, "normalized_mutual_information": 0.6560753643665111, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.00625 ], "objective": 1.5739222534166037, "mutual_information": 1.5739222534166037, "normalized_mutual_information": 0.6551029276848479, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.015625, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5745128742053567, "mutual_information": 1.5745128742053567, "normalized_mutual_information": 0.6559155184286333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.015625, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5785498416851385, "mutual_information": 1.5785498416851385, "normalized_mutual_information": 0.6574344538711275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0, -0.03125, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.578288429530521, "mutual_information": 1.578288429530521, "normalized_mutual_information": 0.657395389657789, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5840904695878066, "mutual_information": 1.5840904695878066, "normalized_mutual_information": 0.6589208416152648, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.015625 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5877236451505155, "mutual_information": 1.5877236451505155, "normalized_mutual_information": 0.6606812640004261, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.046875 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.0 ], "objective": 1.5863143170647207, "mutual_information": 1.5863143170647207, "normalized_mutual_information": 0.6601828262651684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.043750000000000004, 0.1, 0.0 ], "objective": 1.577838561702256, "mutual_information": 1.577838561702256, "normalized_mutual_information": 0.6570178990299271, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05625, 0.1, 0.0 ], "objective": 1.5860468443690185, "mutual_information": 1.5860468443690185, "normalized_mutual_information": 0.6597809657057353, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.09375, 0.0 ], "objective": 1.5769464873008605, "mutual_information": 1.5769464873008605, "normalized_mutual_information": 0.6559021671980496, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.10625000000000001, 0.0 ], "objective": 1.5785144436090122, "mutual_information": 1.5785144436090122, "normalized_mutual_information": 0.6560314607593637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, -0.00625 ], "objective": 1.5863855616773457, "mutual_information": 1.5863855616773457, "normalized_mutual_information": 0.6605224861073201, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.03125 ], "delta_translation_m_xyz": [ 0.05, 0.1, 0.00625 ], "objective": 1.5779071457350842, "mutual_information": 1.5779071457350842, "normalized_mutual_information": 0.6565490024340457, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.034938562061846354, "translation_m": 0.1118033988749895, "recovered": true }, "mi_seconds": 0.24960222700610757, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.639814475818906, "translation_m": 0.35611751119845114, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.2203908487718386, "archived_cost": 1012.9226050763078, "common_supported": 1416, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1070.3614758835251, "supported_cost": 96.50436029470566, "signed_quantiles_m": [ -58.28140427519833, -1.184093673279748, -0.057314360026133215, 0.32800442376424427, 32.413554359928426 ], "negative_fraction": 0.6123117223313687, "absolute_over_1m_fraction": 0.1951538965291421, "common_support_cost": 82.74635672178346 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1063.1699761808577, "supported_cost": 89.31286059203839, "signed_quantiles_m": [ -58.06101342642649, -0.9637028245079096, 0.16307648874570538, 0.5483952725360829, 32.63394520870026 ], "negative_fraction": 0.32940406024885394, "absolute_over_1m_fraction": 0.17747216764898494, "common_support_cost": 76.31537496352348 }, "fit_zero": { "total": 12288, "supported": 1657, "cost": 1020.0121240241051, "supported_cost": 57.91984674274293, "signed_quantiles_m": [ -30.422508118688967, -0.5259470267570306, -0.049610259391564604, 2.5479104576819154, 33.64469862858661 ], "negative_fraction": 0.5491852745926373, "absolute_over_1m_fraction": 0.21726010863005432, "common_support_cost": 45.42147844206214 }, "fit_fitted_bias": { "total": 12288, "supported": 1657, "cost": 1012.9226050763081, "supported_cost": 50.830327794946, "signed_quantiles_m": [ -30.202117269917128, -0.30555617798519213, 0.170780589380274, 2.768301306453754, 33.865089477358445 ], "negative_fraction": 0.23777911888955944, "absolute_over_1m_fraction": 0.22450211225105612, "common_support_cost": 40.50995525524182 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.31426528886911415, "translation_m": 0.164024587903424, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.22048516752505526, "archived_cost": 1033.0357650475432, "common_supported": 1469, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 86.26982287649713 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1065.0243269927141, "supported_cost": 91.16721140389485, "signed_quantiles_m": [ -58.08103612129992, -0.9479103877279337, 0.16512466034437528, 0.5484895912892995, 32.59614457050835 ], "negative_fraction": 0.32612966601178783, "absolute_over_1m_fraction": 0.1761624099541585, "common_support_cost": 79.58227308537519 }, "fit_zero": { "total": 12288, "supported": 1601, "cost": 1045.747431755857, "supported_cost": 78.58722412666724, "signed_quantiles_m": [ -59.65455023346292, -0.8237796369307908, -0.15776509142267336, 0.9491513115894463, 35.47312633397408 ], "negative_fraction": 0.7439100562148657, "absolute_over_1m_fraction": 0.18176139912554654, "common_support_cost": 71.11370520093496 }, "fit_fitted_bias": { "total": 12288, "supported": 1601, "cost": 1033.0357650475435, "supported_cost": 65.87555741835362, "signed_quantiles_m": [ -59.434065065937865, -0.6032944694057356, 0.0627200761023819, 1.1696364791145015, 35.693611501499134 ], "negative_fraction": 0.3566520924422236, "absolute_over_1m_fraction": 0.1773891317926296, "common_support_cost": 59.7685015075482 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.31426528886911415, "translation_m": 0.164024587903424, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.49999934238717797, "archived_cost": 1031.6289518171388, "common_supported": 1469, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 86.26982287649713 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1059.5188041233391, "supported_cost": 85.66168853451977, "signed_quantiles_m": [ -57.801521946437795, -0.6683962128658109, 0.444638835206498, 0.8280037661514223, 32.87565874537047 ], "negative_fraction": 0.2128356254092993, "absolute_over_1m_fraction": 0.17223313686967912, "common_support_cost": 74.43824072037245 }, "fit_zero": { "total": 12288, "supported": 1601, "cost": 1045.747431755857, "supported_cost": 78.58722412666724, "signed_quantiles_m": [ -59.65455023346292, -0.8237796369307908, -0.15776509142267336, 0.9491513115894463, 35.47312633397408 ], "negative_fraction": 0.7439100562148657, "absolute_over_1m_fraction": 0.18176139912554654, "common_support_cost": 71.11370520093496 }, "fit_fitted_bias": { "total": 12288, "supported": 1601, "cost": 1031.6289518171388, "supported_cost": 64.46874418794918, "signed_quantiles_m": [ -59.15455089107574, -0.32378029454361285, 0.3422342509645046, 1.4491506539766243, 35.973125676361256 ], "negative_fraction": 0.15552779512804496, "absolute_over_1m_fraction": 0.1736414740787008, "common_support_cost": 58.26238972331955 } } } ] }, { "case_id": "2011_09_26_0009-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.4925831399386632, -0.49327649462345813, 0.4977114921133187, 0.5160653260184167 ] }, "transform_camera_lidar": { "translation_m": [ -0.25544755214046966, -0.12546671853346003, -0.4318869124058732 ], "rotation_quat_xyzw": [ 0.49385816475442273, -0.49882345403521183, 0.4965642432772922, 0.5105910566277329 ] }, "best_delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "best_delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.2511837787539168, "normalized_mutual_information": 0.5368795994325081, "visible_point_count": 1432, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.264441581484844, "normalized_mutual_information": 0.5518371092839023, "visible_point_count": 450, "projected_count_before_visibility": 538 }, { "frame_id": "frame-223", "mutual_information": 1.1299363211132518, "normalized_mutual_information": 0.49277648788585404, "visible_point_count": 470, "projected_count_before_visibility": 565 }, { "frame_id": "frame-334", "mutual_information": 1.3591734336636545, "normalized_mutual_information": 0.5660252011277678, "visible_point_count": 512, "projected_count_before_visibility": 634 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5397149382902757, "normalized_mutual_information": 0.6417750378024034, "visible_point_count": 1521, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-111", "mutual_information": 1.4775580685506244, "normalized_mutual_information": 0.622060045693647, "visible_point_count": 492, "projected_count_before_visibility": 567 }, { "frame_id": "frame-223", "mutual_information": 1.45218217712215, "normalized_mutual_information": 0.6118860461515753, "visible_point_count": 485, "projected_count_before_visibility": 608 }, { "frame_id": "frame-334", "mutual_information": 1.6894045691980533, "normalized_mutual_information": 0.6913790215619879, "visible_point_count": 544, "projected_count_before_visibility": 663 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.2511837787539168, "mutual_information": 1.2511837787539168, "normalized_mutual_information": 0.5368795994325081, "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": 1.174370964008143, "mutual_information": 1.174370964008143, "normalized_mutual_information": 0.5051869721371672, "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": 1.3196899009063672, "mutual_information": 1.3196899009063672, "normalized_mutual_information": 0.5602395622013255, "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": 1.2751444132749044, "mutual_information": 1.2751444132749044, "normalized_mutual_information": 0.5469635030198592, "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": 1.2465284786588484, "mutual_information": 1.2465284786588484, "normalized_mutual_information": 0.5328979313212406, "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": 1.2316642657873764, "mutual_information": 1.2316642657873764, "normalized_mutual_information": 0.5297270702781848, "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": 1.257991359945817, "mutual_information": 1.257991359945817, "normalized_mutual_information": 0.5389030736549096, "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": 1.2594808301212301, "mutual_information": 1.2594808301212301, "normalized_mutual_information": 0.5423144962426831, "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": 1.2372758433842166, "mutual_information": 1.2372758433842166, "normalized_mutual_information": 0.5310487037242156, "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": 1.3555858895359154, "mutual_information": 1.3555858895359154, "normalized_mutual_information": 0.5812694737982524, "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": 1.1880592788684718, "mutual_information": 1.1880592788684718, "normalized_mutual_information": 0.5073157927939668, "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": 1.2516625980121496, "mutual_information": 1.2516625980121496, "normalized_mutual_information": 0.5361323978448717, "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": 1.2461276568024828, "mutual_information": 1.2461276568024828, "normalized_mutual_information": 0.5368034271609554, "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": 1.276391501449092, "mutual_information": 1.276391501449092, "normalized_mutual_information": 0.5507387103474858, "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": 1.4000885252723503, "mutual_information": 1.4000885252723503, "normalized_mutual_information": 0.5944869179510007, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3601903549100314, "mutual_information": 1.3601903549100314, "normalized_mutual_information": 0.5835764860232433, "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": 1.3442517793962898, "mutual_information": 1.3442517793962898, "normalized_mutual_information": 0.5747710750986832, "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": 1.3433218157962852, "mutual_information": 1.3433218157962852, "normalized_mutual_information": 0.5769467181580967, "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": 1.3518351268218503, "mutual_information": 1.3518351268218503, "normalized_mutual_information": 0.5798627831907118, "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": 1.3633743320793033, "mutual_information": 1.3633743320793033, "normalized_mutual_information": 0.5875757860598722, "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": 1.3214508946958576, "mutual_information": 1.3214508946958576, "normalized_mutual_information": 0.566718526881307, "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": 1.3661443097585007, "mutual_information": 1.3661443097585007, "normalized_mutual_information": 0.5843251723753249, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.2511837787539168, "mutual_information": 1.2511837787539168, "normalized_mutual_information": 0.5368795994325081, "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": 1.35132298245831, "mutual_information": 1.35132298245831, "normalized_mutual_information": 0.5770358454395392, "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": 1.363149269224331, "mutual_information": 1.363149269224331, "normalized_mutual_information": 0.5851179733324043, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3555858895359154, "mutual_information": 1.3555858895359154, "normalized_mutual_information": 0.5812694737982524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4148315989218876, "mutual_information": 1.4148315989218876, "normalized_mutual_information": 0.5980341841230791, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4006951413898692, "mutual_information": 1.4006951413898692, "normalized_mutual_information": 0.5955867295915799, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3719839821104685, "mutual_information": 1.3719839821104685, "normalized_mutual_information": 0.5839722144724818, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3831650646450175, "mutual_information": 1.3831650646450175, "normalized_mutual_information": 0.5872059906875434, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4147131395693944, "mutual_information": 1.4147131395693944, "normalized_mutual_information": 0.6010679775367938, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4096580615057501, "mutual_information": 1.4096580615057501, "normalized_mutual_information": 0.6005835398249673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.3622535931343165, "mutual_information": 1.3622535931343165, "normalized_mutual_information": 0.5794222521347289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.4133540844218062, "mutual_information": 1.4133540844218062, "normalized_mutual_information": 0.5992837775583771, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.3196899009063672, "mutual_information": 1.3196899009063672, "normalized_mutual_information": 0.5602395622013255, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.4115494228838508, "mutual_information": 1.4115494228838508, "normalized_mutual_information": 0.5985071258639313, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.3991938109821334, "mutual_information": 1.3991938109821334, "normalized_mutual_information": 0.5958334297048902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4000885252723503, "mutual_information": 1.4000885252723503, "normalized_mutual_information": 0.5944869179510007, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4421400754843796, "mutual_information": 1.4421400754843796, "normalized_mutual_information": 0.6082965825103562, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4560890163290523, "mutual_information": 1.4560890163290523, "normalized_mutual_information": 0.615550510504098, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.3986380709319388, "mutual_information": 1.3986380709319388, "normalized_mutual_information": 0.5895496021689633, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4153154050086745, "mutual_information": 1.4153154050086745, "normalized_mutual_information": 0.5995908870647227, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.42449262642194, "mutual_information": 1.42449262642194, "normalized_mutual_information": 0.6040516787087514, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4596444609660564, "mutual_information": 1.4596444609660564, "normalized_mutual_information": 0.6189976744003766, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.39872011298935, "mutual_information": 1.39872011298935, "normalized_mutual_information": 0.5894700570691288, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.3977398239805734, "mutual_information": 1.3977398239805734, "normalized_mutual_information": 0.5891914040407945, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.390156098522225, "mutual_information": 1.390156098522225, "normalized_mutual_information": 0.5843799958258123, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.4369693699963724, "mutual_information": 1.4369693699963724, "normalized_mutual_information": 0.6057581031024647, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.4257759785927593, "mutual_information": 1.4257759785927593, "normalized_mutual_information": 0.6043762790552067, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4096580615057501, "mutual_information": 1.4096580615057501, "normalized_mutual_information": 0.6005835398249673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4631195585970735, "mutual_information": 1.4631195585970735, "normalized_mutual_information": 0.6130055813074272, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4659051174230637, "mutual_information": 1.4659051174230637, "normalized_mutual_information": 0.6217556574456131, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4388434624542281, "mutual_information": 1.4388434624542281, "normalized_mutual_information": 0.6069412144183505, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4442533144572447, "mutual_information": 1.4442533144572447, "normalized_mutual_information": 0.6143972374741369, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4620517932285082, "mutual_information": 1.4620517932285082, "normalized_mutual_information": 0.6209792629923105, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4565021752409049, "mutual_information": 1.4565021752409049, "normalized_mutual_information": 0.6165204801022525, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4148315989218876, "mutual_information": 1.4148315989218876, "normalized_mutual_information": 0.5980341841230791, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4289640822676992, "mutual_information": 1.4289640822676992, "normalized_mutual_information": 0.6015674894767075, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.3834227332772997, "mutual_information": 1.3834227332772997, "normalized_mutual_information": 0.5845020369757786, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4546526046484434, "mutual_information": 1.4546526046484434, "normalized_mutual_information": 0.6136864832177368, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4465895088298957, "mutual_information": 1.4465895088298957, "normalized_mutual_information": 0.6163640386567746, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4140094606668334, "mutual_information": 1.4140094606668334, "normalized_mutual_information": 0.597627906367116, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5035981966893648, "mutual_information": 1.5035981966893648, "normalized_mutual_information": 0.6316422356722772, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.456303552303109, "mutual_information": 1.456303552303109, "normalized_mutual_information": 0.6163191185969316, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4596444609660564, "mutual_information": 1.4596444609660564, "normalized_mutual_information": 0.6189976744003766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.5, -0.25, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4744218057021854, "mutual_information": 1.4744218057021854, "normalized_mutual_information": 0.6270209172125315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4672312222694135, "mutual_information": 1.4672312222694135, "normalized_mutual_information": 0.619856177245446, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4401324857365907, "mutual_information": 1.4401324857365907, "normalized_mutual_information": 0.6110759434496734, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4560890163290523, "mutual_information": 1.4560890163290523, "normalized_mutual_information": 0.615550510504098, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4440190032998033, "mutual_information": 1.4440190032998033, "normalized_mutual_information": 0.6084239982145688, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4013332352125296, "mutual_information": 1.4013332352125296, "normalized_mutual_information": 0.5905379275246128, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4869783106685854, "mutual_information": 1.4869783106685854, "normalized_mutual_information": 0.6279104163202609, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4452103617835566, "mutual_information": 1.4452103617835566, "normalized_mutual_information": 0.6160147253297993, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4659051174230637, "mutual_information": 1.4659051174230637, "normalized_mutual_information": 0.6217556574456131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 1.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4831173220995006, "mutual_information": 1.4831173220995006, "normalized_mutual_information": 0.6185721248596083, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.501086999060141, "mutual_information": 1.501086999060141, "normalized_mutual_information": 0.6303405124540892, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4631195585970735, "mutual_information": 1.4631195585970735, "normalized_mutual_information": 0.6130055813074272, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.75, -0.25, -0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.4656424001168613, "mutual_information": 1.4656424001168613, "normalized_mutual_information": 0.6188607421636906, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.50336888741415, "mutual_information": 1.50336888741415, "normalized_mutual_information": 0.6317099012101802, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.5144885763257612, "mutual_information": 1.5144885763257612, "normalized_mutual_information": 0.634618782129699, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.4719662635351145, "mutual_information": 1.4719662635351145, "normalized_mutual_information": 0.6178116776441519, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.4497276153272793, "mutual_information": 1.4497276153272793, "normalized_mutual_information": 0.6043898010572214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.4937787452079465, "mutual_information": 1.4937787452079465, "normalized_mutual_information": 0.6271198951996119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4977178262254451, "mutual_information": 1.4977178262254451, "normalized_mutual_information": 0.6279008785499071, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.4788696390856184, "mutual_information": 1.4788696390856184, "normalized_mutual_information": 0.6225949184466889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4401324857365907, "mutual_information": 1.4401324857365907, "normalized_mutual_information": 0.6110759434496734, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 1.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4805578006948572, "mutual_information": 1.4805578006948572, "normalized_mutual_information": 0.6147389085699052, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4967230472857294, "mutual_information": 1.4967230472857294, "normalized_mutual_information": 0.6278925151814475, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4900461374589256, "mutual_information": 1.4900461374589256, "normalized_mutual_information": 0.6274249194508188, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.75, -0.25, -0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4856913406924834, "mutual_information": 1.4856913406924834, "normalized_mutual_information": 0.6243635695736215, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4882915236750485, "mutual_information": 1.4882915236750485, "normalized_mutual_information": 0.6259833064199717, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.30000000000000004, -0.1, 0.0 ], "objective": 1.4638029749436245, "mutual_information": 1.4638029749436245, "normalized_mutual_information": 0.6175397470306248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.5035981966893648, "mutual_information": 1.5035981966893648, "normalized_mutual_information": 0.6316422356722772, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.2, 0.0 ], "objective": 1.4430369681067876, "mutual_information": 1.4430369681067876, "normalized_mutual_information": 0.6005575417735399, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, 0.0, 0.0 ], "objective": 1.471703339092606, "mutual_information": 1.471703339092606, "normalized_mutual_information": 0.6209266198067421, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5193435651110783, "mutual_information": 1.5193435651110783, "normalized_mutual_information": 0.637179240629758, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.1 ], "objective": 1.4767168890089175, "mutual_information": 1.4767168890089175, "normalized_mutual_information": 0.6221078179437706, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4528465825763128, "mutual_information": 1.4528465825763128, "normalized_mutual_information": 0.6129804975442465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 1.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4925884985432922, "mutual_information": 1.4925884985432922, "normalized_mutual_information": 0.619486277277457, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5310542526185686, "mutual_information": 1.5310542526185686, "normalized_mutual_information": 0.6385978506884122, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5046201006675417, "mutual_information": 1.5046201006675417, "normalized_mutual_information": 0.6297498553328794, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.75, -0.25, -0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4869802261515825, "mutual_information": 1.4869802261515825, "normalized_mutual_information": 0.6245383748467329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5013788353722977, "mutual_information": 1.5013788353722977, "normalized_mutual_information": 0.6291015610943583, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.30000000000000004, -0.1, -0.1 ], "objective": 1.486856994544085, "mutual_information": 1.486856994544085, "normalized_mutual_information": 0.6239901804897143, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.4977178262254451, "mutual_information": 1.4977178262254451, "normalized_mutual_information": 0.6279008785499071, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.2, -0.1 ], "objective": 1.465440843467362, "mutual_information": 1.465440843467362, "normalized_mutual_information": 0.6101126558731931, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, 0.0, -0.1 ], "objective": 1.4571572676697275, "mutual_information": 1.4571572676697275, "normalized_mutual_information": 0.6093173690116954, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.2 ], "objective": 1.5087249543367987, "mutual_information": 1.5087249543367987, "normalized_mutual_information": 0.6298968987204149, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.5144885763257612, "mutual_information": 1.5144885763257612, "normalized_mutual_information": 0.634618782129699, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.452698389550595, "mutual_information": 1.452698389550595, "normalized_mutual_information": 0.6111722376875428, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4883881394606462, "mutual_information": 1.4883881394606462, "normalized_mutual_information": 0.6188301256373284, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4828160275078037, "mutual_information": 1.4828160275078037, "normalized_mutual_information": 0.6214987650041588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5193435651110783, "mutual_information": 1.5193435651110783, "normalized_mutual_information": 0.637179240629758, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5028404226849956, "mutual_information": 1.5028404226849956, "normalized_mutual_information": 0.628896275713717, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5080040709337066, "mutual_information": 1.5080040709337066, "normalized_mutual_information": 0.6294356630133588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.30000000000000004, -0.1, -0.1 ], "objective": 1.4694739204634022, "mutual_information": 1.4694739204634022, "normalized_mutual_information": 0.6163977293818786, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.5253483871168616, "mutual_information": 1.5253483871168616, "normalized_mutual_information": 0.6372313222215741, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.2, -0.1 ], "objective": 1.4623114756108668, "mutual_information": 1.4623114756108668, "normalized_mutual_information": 0.6065073309162216, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, 0.0, -0.1 ], "objective": 1.4803574710936622, "mutual_information": 1.4803574710936622, "normalized_mutual_information": 0.6183339977902621, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.2 ], "objective": 1.5133667201455108, "mutual_information": 1.5133667201455108, "normalized_mutual_information": 0.629577656978082, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.4967230472857294, "mutual_information": 1.4967230472857294, "normalized_mutual_information": 0.6278925151814475, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4825194238660935, "mutual_information": 1.4825194238660935, "normalized_mutual_information": 0.6203594104873952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.875, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5294701834805562, "mutual_information": 1.5294701834805562, "normalized_mutual_information": 0.6349373605615015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.75, -0.625, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5101544663564443, "mutual_information": 1.5101544663564443, "normalized_mutual_information": 0.6321779953395941, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.75, -0.375, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5195564819216132, "mutual_information": 1.5195564819216132, "normalized_mutual_information": 0.6349269800487588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.125 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5065245664335754, "mutual_information": 1.5065245664335754, "normalized_mutual_information": 0.6301585543421512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.125 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5100597889836636, "mutual_information": 1.5100597889836636, "normalized_mutual_information": 0.6305767332890624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.25, -0.1, -0.1 ], "objective": 1.4899343176767148, "mutual_information": 1.4899343176767148, "normalized_mutual_information": 0.6250390497072119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, -0.1 ], "objective": 1.5212389258356371, "mutual_information": 1.5212389258356371, "normalized_mutual_information": 0.6379668059478628, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.15000000000000002, -0.1 ], "objective": 1.478327771140661, "mutual_information": 1.478327771140661, "normalized_mutual_information": 0.6170806573230726, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.05, -0.1 ], "objective": 1.5041220251701468, "mutual_information": 1.5041220251701468, "normalized_mutual_information": 0.6270012823238296, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.15000000000000002 ], "objective": 1.5174539206970128, "mutual_information": 1.5174539206970128, "normalized_mutual_information": 0.6327242953754734, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.05 ], "objective": 1.5122930340816214, "mutual_information": 1.5122930340816214, "normalized_mutual_information": 0.6339965659015265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.6875, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.4941939310115018, "mutual_information": 1.4941939310115018, "normalized_mutual_information": 0.6246693466132128, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.8125, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.527729344947898, "mutual_information": 1.527729344947898, "normalized_mutual_information": 0.6345280002947296, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.75, -0.5625, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5218780808773964, "mutual_information": 1.5218780808773964, "normalized_mutual_information": 0.6367015582916897, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.75, -0.4375, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5202147682997502, "mutual_information": 1.5202147682997502, "normalized_mutual_information": 0.6365318830100738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.0625 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.521667869833952, "mutual_information": 1.521667869833952, "normalized_mutual_information": 0.6358629382956301, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0625 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5271845870029848, "mutual_information": 1.5271845870029848, "normalized_mutual_information": 0.6371664597880217, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.225, -0.1, -0.1 ], "objective": 1.5211768948312931, "mutual_information": 1.5211768948312931, "normalized_mutual_information": 0.6358067606197388, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.17500000000000002, -0.1, -0.1 ], "objective": 1.521338242679888, "mutual_information": 1.521338242679888, "normalized_mutual_information": 0.6371418810145419, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.125, -0.1 ], "objective": 1.5108843118410313, "mutual_information": 1.5108843118410313, "normalized_mutual_information": 0.6305282010003078, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.07500000000000001, -0.1 ], "objective": 1.4988897371061591, "mutual_information": 1.4988897371061591, "normalized_mutual_information": 0.625989697950147, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.125 ], "objective": 1.5175374863538345, "mutual_information": 1.5175374863538345, "normalized_mutual_information": 0.6337940101437133, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.07500000000000001 ], "objective": 1.5240242452119308, "mutual_information": 1.5240242452119308, "normalized_mutual_information": 0.6363876390424293, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.71875, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5164633397461582, "mutual_information": 1.5164633397461582, "normalized_mutual_information": 0.6334506477306191, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.78125, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.529408777685213, "mutual_information": 1.529408777685213, "normalized_mutual_information": 0.6377738798048131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.75, -0.53125, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5290662919670872, "mutual_information": 1.5290662919670872, "normalized_mutual_information": 0.6393273168276695, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.75, -0.46875, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.526722164911919, "mutual_information": 1.526722164911919, "normalized_mutual_information": 0.6375793834082034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.03125 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.529370281867001, "mutual_information": 1.529370281867001, "normalized_mutual_information": 0.6379397981352971, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.03125 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5321688271265617, "mutual_information": 1.5321688271265617, "normalized_mutual_information": 0.639516036130422, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5333311330173682, "mutual_information": 1.5333311330173682, "normalized_mutual_information": 0.6398068339530169, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1875, -0.1, -0.1 ], "objective": 1.5251375319607543, "mutual_information": 1.5251375319607543, "normalized_mutual_information": 0.6373741455692158, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1125, -0.1 ], "objective": 1.517154514024689, "mutual_information": 1.517154514024689, "normalized_mutual_information": 0.6327664511703368, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.08750000000000001, -0.1 ], "objective": 1.507235634069761, "mutual_information": 1.507235634069761, "normalized_mutual_information": 0.6279601596955785, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1125 ], "objective": 1.530050387581241, "mutual_information": 1.530050387581241, "normalized_mutual_information": 0.6380354499336366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.08750000000000001 ], "objective": 1.5290536101399566, "mutual_information": 1.5290536101399566, "normalized_mutual_information": 0.6381657618082254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.71875, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5125453534036597, "mutual_information": 1.5125453534036597, "normalized_mutual_information": 0.6317886894684227, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.78125, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.528575127802613, "mutual_information": 1.528575127802613, "normalized_mutual_information": 0.6381139708164535, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.75, -0.53125, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.521297910994057, "mutual_information": 1.521297910994057, "normalized_mutual_information": 0.6365066628358487, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.75, -0.46875, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5282997974594814, "mutual_information": 1.5282997974594814, "normalized_mutual_information": 0.6374636642708441, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.03125 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5307289683384262, "mutual_information": 1.5307289683384262, "normalized_mutual_information": 0.6388963020395438, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.03125 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5308113224175954, "mutual_information": 1.5308113224175954, "normalized_mutual_information": 0.639111604352248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.22500000000000003, -0.1, -0.1 ], "objective": 1.5211768948312931, "mutual_information": 1.5211768948312931, "normalized_mutual_information": 0.6358067606197388, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1 ], "objective": 1.5310542526185686, "mutual_information": 1.5310542526185686, "normalized_mutual_information": 0.6385978506884122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1125, -0.1 ], "objective": 1.522482911474001, "mutual_information": 1.522482911474001, "normalized_mutual_information": 0.6360495800264774, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.08750000000000001, -0.1 ], "objective": 1.5070763905312614, "mutual_information": 1.5070763905312614, "normalized_mutual_information": 0.6279283339719615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5363648412488597, "mutual_information": 1.5363648412488597, "normalized_mutual_information": 0.6406273319876822, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.08750000000000001 ], "objective": 1.5213358466726445, "mutual_information": 1.5213358466726445, "normalized_mutual_information": 0.6353526086463624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.71875, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5183692690055997, "mutual_information": 1.5183692690055997, "normalized_mutual_information": 0.6346857010904982, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.78125, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5310400404793212, "mutual_information": 1.5310400404793212, "normalized_mutual_information": 0.6381451442817788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.75, -0.53125, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5264986826293063, "mutual_information": 1.5264986826293063, "normalized_mutual_information": 0.6375740775226963, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.75, -0.46875, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5298736362212584, "mutual_information": 1.5298736362212584, "normalized_mutual_information": 0.6382496278732604, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.03125 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5282021976558073, "mutual_information": 1.5282021976558073, "normalized_mutual_information": 0.6373712822419518, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.03125 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5330013508501217, "mutual_information": 1.5330013508501217, "normalized_mutual_information": 0.6396277225232329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.22500000000000003, -0.1, -0.1125 ], "objective": 1.5254562063935815, "mutual_information": 1.5254562063935815, "normalized_mutual_information": 0.6376307324908637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.2, -0.1, -0.1125 ], "objective": 1.530050387581241, "mutual_information": 1.530050387581241, "normalized_mutual_information": 0.6380354499336366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1125, -0.1125 ], "objective": 1.5264540294521716, "mutual_information": 1.5264540294521716, "normalized_mutual_information": 0.6370075574109272, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.08750000000000001, -0.1125 ], "objective": 1.5141913938619922, "mutual_information": 1.5141913938619922, "normalized_mutual_information": 0.6311071851182274, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.125 ], "objective": 1.5311188848938748, "mutual_information": 1.5311188848938748, "normalized_mutual_information": 0.6384451881540467, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1 ], "objective": 1.5333311330173682, "mutual_information": 1.5333311330173682, "normalized_mutual_information": 0.6398068339530169, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ 0.734375, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.523949643862761, "mutual_information": 1.523949643862761, "normalized_mutual_information": 0.637077386582313, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5397149382902757, "mutual_information": 1.5397149382902757, "normalized_mutual_information": 0.6417750378024034, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 184, "delta_rotation_deg_xyz": [ 0.75, -0.515625, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5302779950478191, "mutual_information": 1.5302779950478191, "normalized_mutual_information": 0.638627165621139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ 0.75, -0.484375, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.531530199692133, "mutual_information": 1.531530199692133, "normalized_mutual_information": 0.6385900035572085, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.015625 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5331872363513963, "mutual_information": 1.5331872363513963, "normalized_mutual_information": 0.639093178649654, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.015625 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5354244922787992, "mutual_information": 1.5354244922787992, "normalized_mutual_information": 0.6405166387575358, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21875000000000003, -0.1, -0.1125 ], "objective": 1.5311647474166297, "mutual_information": 1.5311647474166297, "normalized_mutual_information": 0.6385806331197071, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.20625000000000002, -0.1, -0.1125 ], "objective": 1.5324732613970167, "mutual_information": 1.5324732613970167, "normalized_mutual_information": 0.6395497185602174, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.10625000000000001, -0.1125 ], "objective": 1.533232122913361, "mutual_information": 1.533232122913361, "normalized_mutual_information": 0.6399265214647852, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.09375, -0.1125 ], "objective": 1.5199427868595474, "mutual_information": 1.5199427868595474, "normalized_mutual_information": 0.6350373453991266, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.11875000000000001 ], "objective": 1.5315611096570816, "mutual_information": 1.5315611096570816, "normalized_mutual_information": 0.6386673710512828, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.10625 ], "objective": 1.5323542272153585, "mutual_information": 1.5323542272153585, "normalized_mutual_information": 0.6385944075049165, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5363648412488597, "mutual_information": 1.5363648412488597, "normalized_mutual_information": 0.6406273319876822, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ 0.78125, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5310400404793212, "mutual_information": 1.5310400404793212, "normalized_mutual_information": 0.6381451442817788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ 0.765625, -0.515625, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5319542920650582, "mutual_information": 1.5319542920650582, "normalized_mutual_information": 0.6390057144612905, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ 0.765625, -0.484375, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5350416041595638, "mutual_information": 1.5350416041595638, "normalized_mutual_information": 0.6398991114060921, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ 0.765625, -0.5, -0.015625 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5347911387352278, "mutual_information": 1.5347911387352278, "normalized_mutual_information": 0.639700222501815, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.015625 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.1125 ], "objective": 1.5371850844929098, "mutual_information": 1.5371850844929098, "normalized_mutual_information": 0.6407962965740843, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21875000000000003, -0.1, -0.1125 ], "objective": 1.528957940838733, "mutual_information": 1.528957940838733, "normalized_mutual_information": 0.637762078222653, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.20625000000000002, -0.1, -0.1125 ], "objective": 1.5347947066370888, "mutual_information": 1.5347947066370888, "normalized_mutual_information": 0.6403338231399394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.10625000000000001, -0.1125 ], "objective": 1.5322322862117457, "mutual_information": 1.5322322862117457, "normalized_mutual_information": 0.6392142493815152, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.09375, -0.1125 ], "objective": 1.5269164089937906, "mutual_information": 1.5269164089937906, "normalized_mutual_information": 0.6379358765142896, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.11875000000000001 ], "objective": 1.5344088166637888, "mutual_information": 1.5344088166637888, "normalized_mutual_information": 0.6397798851981528, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ 0.765625, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.21250000000000002, -0.1, -0.10625 ], "objective": 1.5375149982438068, "mutual_information": 1.5375149982438068, "normalized_mutual_information": 0.6406996515498622, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 205, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.7384424797674091, "translation_m": 0.35575623676894275, "recovered": false }, "mi_seconds": 0.46076053101569414, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.5718188983489492, "translation_m": 0.12309751038180941, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.0032504080835661165, "archived_cost": 1056.8238432843232, "common_supported": 1282, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1070.3614758835251, "supported_cost": 96.50436029470566, "signed_quantiles_m": [ -58.28140427519833, -1.184093673279748, -0.057314360026133215, 0.32800442376424427, 32.413554359928426 ], "negative_fraction": 0.6123117223313687, "absolute_over_1m_fraction": 0.1951538965291421, "common_support_cost": 68.92234705682677 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1070.1735272595747, "supported_cost": 96.31641167075557, "signed_quantiles_m": [ -58.27815386711476, -1.180843265196182, -0.0540639519425671, 0.3312548318478104, 32.41680476801199 ], "negative_fraction": 0.6077275703994761, "absolute_over_1m_fraction": 0.1944990176817289, "common_support_cost": 68.75487611760931 }, "fit_zero": { "total": 12288, "supported": 1396, "cost": 1056.9040085117208, "supported_cost": 71.19155585923299, "signed_quantiles_m": [ -48.50183104493502, -0.5949538716965517, 1.149630062258061, 8.47218135301621, 57.29635758064764 ], "negative_fraction": 0.2191977077363897, "absolute_over_1m_fraction": 0.6031518624641834, "common_support_cost": 55.852488451108385 }, "fit_fitted_bias": { "total": 12288, "supported": 1396, "cost": 1056.8238432843232, "supported_cost": 71.11139063183546, "signed_quantiles_m": [ -48.49858063685145, -0.5917034636129855, 1.152880470341627, 8.475431761099776, 57.2996079887312 ], "negative_fraction": 0.2184813753581662, "absolute_over_1m_fraction": 0.6031518624641834, "common_support_cost": 55.78073161176659 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.4746026219787935, "translation_m": 0.12359608339148945, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.04344630962599602, "archived_cost": 1044.077312827254, "common_supported": 1293, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 69.06605192128302 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1069.926807199373, "supported_cost": 96.06969161055366, "signed_quantiles_m": [ -58.25807497919897, -1.1249492456269927, -0.011914197554683953, 0.3714507333902403, 32.419105712609294 ], "negative_fraction": 0.5245579567779961, "absolute_over_1m_fraction": 0.18925998690242304, "common_support_cost": 67.1381647847749 }, "fit_zero": { "total": 12288, "supported": 1407, "cost": 1045.0610356687378, "supported_cost": 60.344069334573334, "signed_quantiles_m": [ -46.652033178945075, -0.5398941034566037, 1.0467283156536986, 8.274288601634344, 57.414873450606564 ], "negative_fraction": 0.2146410803127221, "absolute_over_1m_fraction": 0.5671641791044776, "common_support_cost": 49.83042700834255 }, "fit_fitted_bias": { "total": 12288, "supported": 1407, "cost": 1044.0773128272542, "supported_cost": 59.36034649308992, "signed_quantiles_m": [ -46.608586869319076, -0.49644779383060766, 1.0901746252796947, 8.31773491126034, 57.45831976023256 ], "negative_fraction": 0.20398009950248755, "absolute_over_1m_fraction": 0.579957356076759, "common_support_cost": 48.95133327182439 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.4746026219787935, "translation_m": 0.12359608339148945, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1037.4927784851488, "common_supported": 1293, "states": { "reference_zero": { "total": 12288, "supported": 1527, "cost": 1072.1029816404134, "supported_cost": 98.24586605159402, "signed_quantiles_m": [ -58.30152128882497, -1.1683955552529888, -0.055360507180679974, 0.32800442376424427, 32.375659402983295 ], "negative_fraction": 0.6090373280943026, "absolute_over_1m_fraction": 0.19646365422396855, "common_support_cost": 69.06605192128302 }, "reference_fitted_bias": { "total": 12288, "supported": 1527, "cost": 1059.5188017150688, "supported_cost": 85.66168612624938, "signed_quantiles_m": [ -57.801521817753354, -0.6683960841813673, 0.44463896389094154, 0.8280038948358659, 32.87565887405491 ], "negative_fraction": 0.2128356254092993, "absolute_over_1m_fraction": 0.17223313686967912, "common_support_cost": 58.44825763973429 }, "fit_zero": { "total": 12288, "supported": 1407, "cost": 1045.0610356687378, "supported_cost": 60.344069334573334, "signed_quantiles_m": [ -46.652033178945075, -0.5398941034566037, 1.0467283156536986, 8.274288601634344, 57.414873450606564 ], "negative_fraction": 0.2146410803127221, "absolute_over_1m_fraction": 0.5671641791044776, "common_support_cost": 49.83042700834255 }, "fit_fitted_bias": { "total": 12288, "supported": 1407, "cost": 1037.4927784851488, "supported_cost": 52.77581215098447, "signed_quantiles_m": [ -46.15203370787346, -0.03989463238498222, 1.5467277867253202, 8.774288072705966, 57.91487292167818 ], "negative_fraction": 0.11016346837242359, "absolute_over_1m_fraction": 0.7313432835820896, "common_support_cost": 43.19783902093125 } } } ] }, { "case_id": "2011_09_26_0011-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.1570524478595304, -0.12546671853346003, -0.2193869124058732 ], "rotation_quat_xyzw": [ -0.4970392806734143, 0.5065017108732196, -0.502029631017498, -0.4943422093353867 ] }, "transform_camera_lidar": { "translation_m": [ 0.30705244785953045, 0.12453328146654002, -0.3443869124058732 ], "rotation_quat_xyzw": [ -0.4937071311077841, 0.5054488250458451, -0.5010459481214582, -0.4997276376429116 ] }, "best_delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "best_delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.561632030587871, "normalized_mutual_information": 0.5760011667204742, "visible_point_count": 1832, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.5687102181764239, "normalized_mutual_information": 0.5811908556750148, "visible_point_count": 561, "projected_count_before_visibility": 685 }, { "frame_id": "frame-116", "mutual_information": 1.5593684846665097, "normalized_mutual_information": 0.5723558845929678, "visible_point_count": 627, "projected_count_before_visibility": 730 }, { "frame_id": "frame-174", "mutual_information": 1.5568173889206793, "normalized_mutual_information": 0.57445675989344, "visible_point_count": 644, "projected_count_before_visibility": 757 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.847127675102547, "normalized_mutual_information": 0.6831961727872656, "visible_point_count": 1630, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.8274543154148715, "normalized_mutual_information": 0.6776061658242614, "visible_point_count": 506, "projected_count_before_visibility": 593 }, { "frame_id": "frame-116", "mutual_information": 1.8783280067576964, "normalized_mutual_information": 0.6949216124625733, "visible_point_count": 544, "projected_count_before_visibility": 640 }, { "frame_id": "frame-174", "mutual_information": 1.8356007031350732, "normalized_mutual_information": 0.6770607400749622, "visible_point_count": 580, "projected_count_before_visibility": 654 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.561632030587871, "mutual_information": 1.561632030587871, "normalized_mutual_information": 0.5760011667204742, "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": 1.592774073109128, "mutual_information": 1.592774073109128, "normalized_mutual_information": 0.5895312301380985, "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": 1.5099308205604176, "mutual_information": 1.5099308205604176, "normalized_mutual_information": 0.5576740853730516, "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": 1.5585258300817515, "mutual_information": 1.5585258300817515, "normalized_mutual_information": 0.5759807315428006, "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": 1.5639605472187081, "mutual_information": 1.5639605472187081, "normalized_mutual_information": 0.5775636252217466, "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": 1.5839964667662023, "mutual_information": 1.5839964667662023, "normalized_mutual_information": 0.5863265740190199, "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": 1.5191835991695102, "mutual_information": 1.5191835991695102, "normalized_mutual_information": 0.562439983477674, "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": 1.5501605425346827, "mutual_information": 1.5501605425346827, "normalized_mutual_information": 0.5732415729417891, "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": 1.5629413070656388, "mutual_information": 1.5629413070656388, "normalized_mutual_information": 0.5773698416975238, "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": 1.5271400450403192, "mutual_information": 1.5271400450403192, "normalized_mutual_information": 0.564764959350709, "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": 1.6105546974876497, "mutual_information": 1.6105546974876497, "normalized_mutual_information": 0.5967192822281507, "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": 1.5545889881737451, "mutual_information": 1.5545889881737451, "normalized_mutual_information": 0.5727078023744414, "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": 1.5563946230555123, "mutual_information": 1.5563946230555123, "normalized_mutual_information": 0.5767574177503058, "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": 1.6485004429533685, "mutual_information": 1.6485004429533685, "normalized_mutual_information": 0.6134942316576011, "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": 1.5637882711350752, "mutual_information": 1.5637882711350752, "normalized_mutual_information": 0.5791471262381843, "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": 1.6112158995596957, "mutual_information": 1.6112158995596957, "normalized_mutual_information": 0.5967506937658903, "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": 1.6160726107551258, "mutual_information": 1.6160726107551258, "normalized_mutual_information": 0.5972942031543778, "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": 1.633631221069465, "mutual_information": 1.633631221069465, "normalized_mutual_information": 0.6048528037793132, "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": 1.5822924931623426, "mutual_information": 1.5822924931623426, "normalized_mutual_information": 0.585022929649443, "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": 1.5984805701551172, "mutual_information": 1.5984805701551172, "normalized_mutual_information": 0.5953358167651556, "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": 1.6101589605257978, "mutual_information": 1.6101589605257978, "normalized_mutual_information": 0.5975275279255192, "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": 1.561632030587871, "mutual_information": 1.561632030587871, "normalized_mutual_information": 0.5760011667204742, "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": 1.6777213543483966, "mutual_information": 1.6777213543483966, "normalized_mutual_information": 0.6254005296593256, "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": 1.61471232425217, "mutual_information": 1.61471232425217, "normalized_mutual_information": 0.5985743410269014, "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": 1.5929944619997594, "mutual_information": 1.5929944619997594, "normalized_mutual_information": 0.5934399169514832, "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": 1.7131941394608923, "mutual_information": 1.7131941394608923, "normalized_mutual_information": 0.6413189625250872, "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": 1.6172568705468529, "mutual_information": 1.6172568705468529, "normalized_mutual_information": 0.6003077141397214, "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": 1.6621981222254198, "mutual_information": 1.6621981222254198, "normalized_mutual_information": 0.6199045598436496, "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": 1.6792648724957366, "mutual_information": 1.6792648724957366, "normalized_mutual_information": 0.6247066043006647, "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": 1.6931584431505449, "mutual_information": 1.6931584431505449, "normalized_mutual_information": 0.6331064981844478, "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": 1.6463122396270569, "mutual_information": 1.6463122396270569, "normalized_mutual_information": 0.6140752383492288, "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": 1.64463324043044, "mutual_information": 1.64463324043044, "normalized_mutual_information": 0.6146453100294892, "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": 1.6790021303901324, "mutual_information": 1.6790021303901324, "normalized_mutual_information": 0.6276340259627318, "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": 1.6105546974876497, "mutual_information": 1.6105546974876497, "normalized_mutual_information": 0.5967192822281507, "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": 1.71691324651464, "mutual_information": 1.71691324651464, "normalized_mutual_information": 0.6378497601286105, "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": 1.6874961187633215, "mutual_information": 1.6874961187633215, "normalized_mutual_information": 0.6293720249585274, "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": 1.6487360479805961, "mutual_information": 1.6487360479805961, "normalized_mutual_information": 0.61577380987218, "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": 1.7218369967779197, "mutual_information": 1.7218369967779197, "normalized_mutual_information": 0.6400490664700227, "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": 1.6960769120150345, "mutual_information": 1.6960769120150345, "normalized_mutual_information": 0.6303049642780384, "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": 1.7132632497476994, "mutual_information": 1.7132632497476994, "normalized_mutual_information": 0.6366700212031279, "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": 1.7300790893877276, "mutual_information": 1.7300790893877276, "normalized_mutual_information": 0.6402777600391122, "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": 1.7249853645158428, "mutual_information": 1.7249853645158428, "normalized_mutual_information": 0.6424690128454423, "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": 1.6923411682335978, "mutual_information": 1.6923411682335978, "normalized_mutual_information": 0.6277796057508317, "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": 1.7144186796697742, "mutual_information": 1.7144186796697742, "normalized_mutual_information": 0.6370782289494409, "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": 1.7202062415914654, "mutual_information": 1.7202062415914654, "normalized_mutual_information": 0.6394356726210243, "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": 1.6777213543483966, "mutual_information": 1.6777213543483966, "normalized_mutual_information": 0.6254005296593256, "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": 1.6933252510434684, "mutual_information": 1.6933252510434684, "normalized_mutual_information": 0.6276215707293699, "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": 1.7197729769700565, "mutual_information": 1.7197729769700565, "normalized_mutual_information": 0.6354903389399644, "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": 1.712859394608418, "mutual_information": 1.712859394608418, "normalized_mutual_information": 0.6390071164404455, "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": 1.7502719007220993, "mutual_information": 1.7502719007220993, "normalized_mutual_information": 0.6471209404568324, "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": 1.6832128584531267, "mutual_information": 1.6832128584531267, "normalized_mutual_information": 0.6236909189276186, "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": 1.71691324651464, "mutual_information": 1.71691324651464, "normalized_mutual_information": 0.6378497601286105, "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": 1.741307255869662, "mutual_information": 1.741307255869662, "normalized_mutual_information": 0.6450085237736949, "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": 1.7561278713906423, "mutual_information": 1.7561278713906423, "normalized_mutual_information": 0.6522518902805619, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.6936807914901537, "mutual_information": 1.6936807914901537, "normalized_mutual_information": 0.6275879489427304, "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": 1.7050610554822143, "mutual_information": 1.7050610554822143, "normalized_mutual_information": 0.6346225402828237, "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": 1.7408759913377274, "mutual_information": 1.7408759913377274, "normalized_mutual_information": 0.6423559631411725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.6792648724957366, "mutual_information": 1.6792648724957366, "normalized_mutual_information": 0.6247066043006647, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.7158134981496758, "mutual_information": 1.7158134981496758, "normalized_mutual_information": 0.6329524972438286, "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": 1.7307068388230096, "mutual_information": 1.7307068388230096, "normalized_mutual_information": 0.6394725317329001, "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": 1.7148793478157263, "mutual_information": 1.7148793478157263, "normalized_mutual_information": 0.639803191661502, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7621675858695323, "mutual_information": 1.7621675858695323, "normalized_mutual_information": 0.6515353343365315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7237810351032252, "mutual_information": 1.7237810351032252, "normalized_mutual_information": 0.6388932745490047, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7249853645158428, "mutual_information": 1.7249853645158428, "normalized_mutual_information": 0.6424690128454423, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7685569531761167, "mutual_information": 1.7685569531761167, "normalized_mutual_information": 0.6544355428158938, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7654584403763056, "mutual_information": 1.7654584403763056, "normalized_mutual_information": 0.655200781772424, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7300790893877276, "mutual_information": 1.7300790893877276, "normalized_mutual_information": 0.6402777600391122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.30000000000000004, 0.0 ], "objective": 1.7223224951502496, "mutual_information": 1.7223224951502496, "normalized_mutual_information": 0.6405053796185367, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.770457250428153, "mutual_information": 1.770457250428153, "normalized_mutual_information": 0.6566993324322057, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.20000000000000004, 0.0 ], "objective": 1.6971331724745422, "mutual_information": 1.6971331724745422, "normalized_mutual_information": 0.6327345242411254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.4, 0.0 ], "objective": 1.7351435065132803, "mutual_information": 1.7351435065132803, "normalized_mutual_information": 0.6422424545499279, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, -0.1 ], "objective": 1.7448218147748102, "mutual_information": 1.7448218147748102, "normalized_mutual_information": 0.6455880397990337, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.1 ], "objective": 1.736219746260853, "mutual_information": 1.736219746260853, "normalized_mutual_information": 0.6487392183173174, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7836628598952062, "mutual_information": 1.7836628598952062, "normalized_mutual_information": 0.6597100430403077, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7248022752795429, "mutual_information": 1.7248022752795429, "normalized_mutual_information": 0.6425602916722274, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.742005001615352, "mutual_information": 1.742005001615352, "normalized_mutual_information": 0.6496417705275112, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7754267675071305, "mutual_information": 1.7754267675071305, "normalized_mutual_information": 0.6582466643486629, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7590840341939786, "mutual_information": 1.7590840341939786, "normalized_mutual_information": 0.6533486169357435, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7408759913377274, "mutual_information": 1.7408759913377274, "normalized_mutual_information": 0.6423559631411725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7561278713906423, "mutual_information": 1.7561278713906423, "normalized_mutual_information": 0.6522518902805619, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.7789139336485, "mutual_information": 1.7789139336485, "normalized_mutual_information": 0.6587369166667708, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.711421732878484, "mutual_information": 1.711421732878484, "normalized_mutual_information": 0.6405263230196028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.7460489120603642, "mutual_information": 1.7460489120603642, "normalized_mutual_information": 0.6451146399660308, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.756906519214995, "mutual_information": 1.756906519214995, "normalized_mutual_information": 0.6471572659716369, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.7500995604413816, "mutual_information": 1.7500995604413816, "normalized_mutual_information": 0.6517675279676066, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.787806719284158, "mutual_information": 1.787806719284158, "normalized_mutual_information": 0.6654673941997101, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.0, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.770457250428153, "mutual_information": 1.770457250428153, "normalized_mutual_information": 0.6566993324322057, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7536379752910634, "mutual_information": 1.7536379752910634, "normalized_mutual_information": 0.650331615086109, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ -0.25, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7832122981857144, "mutual_information": 1.7832122981857144, "normalized_mutual_information": 0.6594402299287072, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7803554208304349, "mutual_information": 1.7803554208304349, "normalized_mutual_information": 0.6605167086397822, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7614278648095272, "mutual_information": 1.7614278648095272, "normalized_mutual_information": 0.6501719730639327, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7621675858695323, "mutual_information": 1.7621675858695323, "normalized_mutual_information": 0.6515353343365315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.7775769944655828, "mutual_information": 1.7775769944655828, "normalized_mutual_information": 0.6573963308761918, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.7635635513698305, "mutual_information": 1.7635635513698305, "normalized_mutual_information": 0.6560112364494127, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.7675127201334728, "mutual_information": 1.7675127201334728, "normalized_mutual_information": 0.6522614203609557, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.7866404403764378, "mutual_information": 1.7866404403764378, "normalized_mutual_information": 0.6586886316112973, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ -0.25, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.7640268723774088, "mutual_information": 1.7640268723774088, "normalized_mutual_information": 0.6553137919523118, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.73526090266533, "mutual_information": 1.73526090266533, "normalized_mutual_information": 0.6461508822477381, "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, 0.0 ], "objective": 1.7836628598952062, "mutual_information": 1.7836628598952062, "normalized_mutual_information": 0.6597100430403077, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7635976054350513, "mutual_information": 1.7635976054350513, "normalized_mutual_information": 0.6576000622255519, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.795895938266602, "mutual_information": 1.795895938266602, "normalized_mutual_information": 0.6666465778161593, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8174556280700032, "mutual_information": 1.8174556280700032, "normalized_mutual_information": 0.674500697875508, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 103, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7566304104614392, "mutual_information": 1.7566304104614392, "normalized_mutual_information": 0.652590891336718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7812774420188588, "mutual_information": 1.7812774420188588, "normalized_mutual_information": 0.6603917932706119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.7990048784381762, "mutual_information": 1.7990048784381762, "normalized_mutual_information": 0.6666255306040807, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.8069111879387754, "mutual_information": 1.8069111879387754, "normalized_mutual_information": 0.6732847666651947, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.7215689545443087, "mutual_information": 1.7215689545443087, "normalized_mutual_information": 0.6380198336896878, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.7938975119707934, "mutual_information": 1.7938975119707934, "normalized_mutual_information": 0.6649332611681541, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.792233046645394, "mutual_information": 1.792233046645394, "normalized_mutual_information": 0.6663286259171958, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7567856269837077, "mutual_information": 1.7567856269837077, "normalized_mutual_information": 0.65354785023364, "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, 0.0 ], "objective": 1.7803554208304349, "mutual_information": 1.7803554208304349, "normalized_mutual_information": 0.6605167086397822, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.779145555129773, "mutual_information": 1.779145555129773, "normalized_mutual_information": 0.6630814296611067, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ -0.5, 0.5, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8151072461808788, "mutual_information": 1.8151072461808788, "normalized_mutual_information": 0.6720071123384095, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.803778103765171, "mutual_information": 1.803778103765171, "normalized_mutual_information": 0.6708934311512295, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.787806719284158, "mutual_information": 1.787806719284158, "normalized_mutual_information": 0.6654673941997101, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7846675332435522, "mutual_information": 1.7846675332435522, "normalized_mutual_information": 0.6620712279072145, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.8060386398372235, "mutual_information": 1.8060386398372235, "normalized_mutual_information": 0.670290257613511, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.8154304585827274, "mutual_information": 1.8154304585827274, "normalized_mutual_information": 0.677654909342043, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.7467761817110699, "mutual_information": 1.7467761817110699, "normalized_mutual_information": 0.6493924762147119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.8000850734555272, "mutual_information": 1.8000850734555272, "normalized_mutual_information": 0.6664014514561752, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.7937454496358, "mutual_information": 1.7937454496358, "normalized_mutual_information": 0.66772058558977, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7756499129536572, "mutual_information": 1.7756499129536572, "normalized_mutual_information": 0.6611768698165602, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ -0.375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8128171460584843, "mutual_information": 1.8128171460584843, "normalized_mutual_information": 0.6728131751994296, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ -0.5, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7818838574286557, "mutual_information": 1.7818838574286557, "normalized_mutual_information": 0.6629645389832933, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ -0.5, 0.375, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.804563414999972, "mutual_information": 1.804563414999972, "normalized_mutual_information": 0.6702630539942366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.809208243443306, "mutual_information": 1.809208243443306, "normalized_mutual_information": 0.6715066954406433, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.375 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.791765093828544, "mutual_information": 1.791765093828544, "normalized_mutual_information": 0.665155576818531, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.05, 0.30000000000000004, 0.0 ], "objective": 1.7952248908267743, "mutual_information": 1.7952248908267743, "normalized_mutual_information": 0.6666106484046495, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8104795416927688, "mutual_information": 1.8104795416927688, "normalized_mutual_information": 0.671352991710766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.8218016395369283, "mutual_information": 1.8218016395369283, "normalized_mutual_information": 0.6775797951611126, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 131, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.35000000000000003, 0.0 ], "objective": 1.7673517091438822, "mutual_information": 1.7673517091438822, "normalized_mutual_information": 0.656224102769959, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05 ], "objective": 1.7999993096160385, "mutual_information": 1.7999993096160385, "normalized_mutual_information": 0.6681829854855145, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.05 ], "objective": 1.8022367198229616, "mutual_information": 1.8022367198229616, "normalized_mutual_information": 0.6696625100826444, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.826971114972701, "mutual_information": 1.826971114972701, "normalized_mutual_information": 0.6816896207787316, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ -0.375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.7960662550903772, "mutual_information": 1.7960662550903772, "normalized_mutual_information": 0.6686727110394804, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ -0.5, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.7916740785431629, "mutual_information": 1.7916740785431629, "normalized_mutual_information": 0.6673760314592422, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ -0.5, 0.375, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.826061231187938, "mutual_information": 1.826061231187938, "normalized_mutual_information": 0.6786151457789624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.8197793323811773, "mutual_information": 1.8197793323811773, "normalized_mutual_information": 0.6773180288082769, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.375 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.8175361007811246, "mutual_information": 1.8175361007811246, "normalized_mutual_information": 0.6776739569501388, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.05, 0.25000000000000006, 0.0 ], "objective": 1.805190312842437, "mutual_information": 1.805190312842437, "normalized_mutual_information": 0.6709651680282637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8280529646666335, "mutual_information": 1.8280529646666335, "normalized_mutual_information": 0.6789862905034538, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 142, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000007, 0.0 ], "objective": 1.8154304585827274, "mutual_information": 1.8154304585827274, "normalized_mutual_information": 0.677654909342043, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8174556280700032, "mutual_information": 1.8174556280700032, "normalized_mutual_information": 0.674500697875508, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, -0.05 ], "objective": 1.8229111009267094, "mutual_information": 1.8229111009267094, "normalized_mutual_information": 0.6762493371319117, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.05 ], "objective": 1.8188979264823264, "mutual_information": 1.8188979264823264, "normalized_mutual_information": 0.6766767833350839, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8119900476071837, "mutual_information": 1.8119900476071837, "normalized_mutual_information": 0.6756811447338068, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ -0.375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.7967299422484768, "mutual_information": 1.7967299422484768, "normalized_mutual_information": 0.6688163368016209, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ -0.5, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.816377387261477, "mutual_information": 1.816377387261477, "normalized_mutual_information": 0.6762417637272776, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ -0.5, 0.375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8276596521723774, "mutual_information": 1.8276596521723774, "normalized_mutual_information": 0.6788420036716435, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8177846614506736, "mutual_information": 1.8177846614506736, "normalized_mutual_information": 0.6757141314108791, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8200656713976713, "mutual_information": 1.8200656713976713, "normalized_mutual_information": 0.6763764159631537, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.10000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8218016395369283, "mutual_information": 1.8218016395369283, "normalized_mutual_information": 0.6775797951611126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.25000000000000006, 0.0 ], "objective": 1.823238054959516, "mutual_information": 1.823238054959516, "normalized_mutual_information": 0.6776843782678478, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.20000000000000007, 0.0 ], "objective": 1.821697243524416, "mutual_information": 1.821697243524416, "normalized_mutual_information": 0.6791121503851262, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8104795416927688, "mutual_information": 1.8104795416927688, "normalized_mutual_information": 0.671352991710766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8354923447591986, "mutual_information": 1.8354923447591986, "normalized_mutual_information": 0.6791431657255758, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 157, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.05 ], "objective": 1.8322173205337284, "mutual_information": 1.8322173205337284, "normalized_mutual_information": 0.6819620579616276, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8100841193036856, "mutual_information": 1.8100841193036856, "normalized_mutual_information": 0.6740840836893304, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ -0.375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.7967536179188197, "mutual_information": 1.7967536179188197, "normalized_mutual_information": 0.6671008415551869, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ -0.5, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8118612731102406, "mutual_information": 1.8118612731102406, "normalized_mutual_information": 0.6736169076555144, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ -0.5, 0.375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8255637327798073, "mutual_information": 1.8255637327798073, "normalized_mutual_information": 0.6757467355824224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8225517260017634, "mutual_information": 1.8225517260017634, "normalized_mutual_information": 0.6757163667248562, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8313378112635401, "mutual_information": 1.8313378112635401, "normalized_mutual_information": 0.6792320139933291, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.10000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8229111009267094, "mutual_information": 1.8229111009267094, "normalized_mutual_information": 0.6762493371319117, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.25000000000000006, -0.05 ], "objective": 1.8230877107021612, "mutual_information": 1.8230877107021612, "normalized_mutual_information": 0.6769257019784177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.20000000000000007, -0.05 ], "objective": 1.8224016953405056, "mutual_information": 1.8224016953405056, "normalized_mutual_information": 0.6797751646883432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.05 ], "objective": 1.8052334431074624, "mutual_information": 1.8052334431074624, "normalized_mutual_information": 0.6694772676813768, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.836262242064052, "mutual_information": 1.836262242064052, "normalized_mutual_information": 0.6797047314055971, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 169, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.8280529646666335, "mutual_information": 1.8280529646666335, "normalized_mutual_information": 0.6789862905034538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.7990510472270869, "mutual_information": 1.7990510472270869, "normalized_mutual_information": 0.6696390804560995, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ -0.375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.805782688697074, "mutual_information": 1.805782688697074, "normalized_mutual_information": 0.6697669842420733, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ -0.5, 0.125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8180914913505557, "mutual_information": 1.8180914913505557, "normalized_mutual_information": 0.6734073534591684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ -0.5, 0.375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.832202109895622, "mutual_information": 1.832202109895622, "normalized_mutual_information": 0.6774077312091936, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.818457640048644, "mutual_information": 1.818457640048644, "normalized_mutual_information": 0.6743871124121984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8153269769174774, "mutual_information": 1.8153269769174774, "normalized_mutual_information": 0.6748280291662692, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.10000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8237070169057643, "mutual_information": 1.8237070169057643, "normalized_mutual_information": 0.6747781022443284, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.2, 0.25000000000000006, -0.1 ], "objective": 1.822394032034252, "mutual_information": 1.822394032034252, "normalized_mutual_information": 0.6750791750424417, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.20000000000000007, -0.1 ], "objective": 1.8178580263597095, "mutual_information": 1.8178580263597095, "normalized_mutual_information": 0.6780327409250089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.1 ], "objective": 1.7952326189127026, "mutual_information": 1.7952326189127026, "normalized_mutual_information": 0.6655115569010894, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.15000000000000002 ], "objective": 1.835280112380265, "mutual_information": 1.835280112380265, "normalized_mutual_information": 0.6779885077237285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.05 ], "objective": 1.8354923447591986, "mutual_information": 1.8354923447591986, "normalized_mutual_information": 0.6791431657255758, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ -0.5625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8160709947279168, "mutual_information": 1.8160709947279168, "normalized_mutual_information": 0.6738587953164029, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ -0.4375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8167671182562166, "mutual_information": 1.8167671182562166, "normalized_mutual_information": 0.6745128837673035, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ -0.5, 0.1875, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.829910930568517, "mutual_information": 1.829910930568517, "normalized_mutual_information": 0.6761111150659209, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ -0.5, 0.3125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8321013056004976, "mutual_information": 1.8321013056004976, "normalized_mutual_information": 0.6787545997549911, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8275149209090344, "mutual_information": 1.8275149209090344, "normalized_mutual_information": 0.6769604057283258, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.4375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8269934870677853, "mutual_information": 1.8269934870677853, "normalized_mutual_information": 0.6775458392838228, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.12500000000000003, 0.25000000000000006, -0.1 ], "objective": 1.8331407346438218, "mutual_information": 1.8331407346438218, "normalized_mutual_information": 0.6776749442739449, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.25000000000000006, -0.1 ], "objective": 1.8296704483543664, "mutual_information": 1.8296704483543664, "normalized_mutual_information": 0.677474745108137, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.22500000000000006, -0.1 ], "objective": 1.818898533073332, "mutual_information": 1.818898533073332, "normalized_mutual_information": 0.6759434791453746, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.2750000000000001, -0.1 ], "objective": 1.8130858166213617, "mutual_information": 1.8130858166213617, "normalized_mutual_information": 0.6709864442861325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8420258860802445, "mutual_information": 1.8420258860802445, "normalized_mutual_information": 0.6808366891214669, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 193, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.07500000000000001 ], "objective": 1.8374130136567846, "mutual_information": 1.8374130136567846, "normalized_mutual_information": 0.6795034741234819, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ -0.5625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8198584423579245, "mutual_information": 1.8198584423579245, "normalized_mutual_information": 0.6739957818782781, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ -0.4375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8161697471516325, "mutual_information": 1.8161697471516325, "normalized_mutual_information": 0.6739245903856325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ -0.5, 0.1875, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8318246903144597, "mutual_information": 1.8318246903144597, "normalized_mutual_information": 0.6770923968752163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ -0.5, 0.3125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8351665441244194, "mutual_information": 1.8351665441244194, "normalized_mutual_information": 0.678157146511985, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8217361025162206, "mutual_information": 1.8217361025162206, "normalized_mutual_information": 0.6747628098148165, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.4375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8309786554744907, "mutual_information": 1.8309786554744907, "normalized_mutual_information": 0.6776622798833151, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.12500000000000003, 0.25000000000000006, -0.125 ], "objective": 1.8374909023623929, "mutual_information": 1.8374909023623929, "normalized_mutual_information": 0.6793428198151776, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8391767349292245, "mutual_information": 1.8391767349292245, "normalized_mutual_information": 0.6802397791342433, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.22500000000000006, -0.125 ], "objective": 1.8270893314162082, "mutual_information": 1.8270893314162082, "normalized_mutual_information": 0.6776226135353877, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.2750000000000001, -0.125 ], "objective": 1.801933741397913, "mutual_information": 1.801933741397913, "normalized_mutual_information": 0.6673135785209419, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.15 ], "objective": 1.835280112380265, "mutual_information": 1.835280112380265, "normalized_mutual_information": 0.6779885077237285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1 ], "objective": 1.836262242064052, "mutual_information": 1.836262242064052, "normalized_mutual_information": 0.6797047314055971, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ -0.53125, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.831812411821294, "mutual_information": 1.831812411821294, "normalized_mutual_information": 0.6781611859802927, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ -0.46875, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8170459257918825, "mutual_information": 1.8170459257918825, "normalized_mutual_information": 0.6733526611065738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ -0.5, 0.21875, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8392903507967115, "mutual_information": 1.8392903507967115, "normalized_mutual_information": 0.6800535686819028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ -0.5, 0.28125, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8404477100618262, "mutual_information": 1.8404477100618262, "normalized_mutual_information": 0.6804812715845202, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.53125 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.833151088380055, "mutual_information": 1.833151088380055, "normalized_mutual_information": 0.6784156633226637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.46875 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8405158208689347, "mutual_information": 1.8405158208689347, "normalized_mutual_information": 0.6800852687657848, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1375, 0.25000000000000006, -0.125 ], "objective": 1.8419606156471682, "mutual_information": 1.8419606156471682, "normalized_mutual_information": 0.6816195658470466, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.25000000000000006, -0.125 ], "objective": 1.8388267419127935, "mutual_information": 1.8388267419127935, "normalized_mutual_information": 0.6797089423381241, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.23750000000000004, -0.125 ], "objective": 1.8268579073106237, "mutual_information": 1.8268579073106237, "normalized_mutual_information": 0.6759234610956547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.26250000000000007, -0.125 ], "objective": 1.8368600640061903, "mutual_information": 1.8368600640061903, "normalized_mutual_information": 0.6788299341293605, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1375 ], "objective": 1.8381745865856143, "mutual_information": 1.8381745865856143, "normalized_mutual_information": 0.6793733098250397, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.1125 ], "objective": 1.8380769589458692, "mutual_information": 1.8380769589458692, "normalized_mutual_information": 0.6806186226621493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ -0.515625, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8402793725127882, "mutual_information": 1.8402793725127882, "normalized_mutual_information": 0.6808184017094595, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ -0.484375, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.826535443471247, "mutual_information": 1.826535443471247, "normalized_mutual_information": 0.6760032450205266, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.847127675102547, "mutual_information": 1.847127675102547, "normalized_mutual_information": 0.6831961727872656, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 221, "delta_rotation_deg_xyz": [ -0.5, 0.265625, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8374869938951364, "mutual_information": 1.8374869938951364, "normalized_mutual_information": 0.679304550033582, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.515625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8405474682347742, "mutual_information": 1.8405474682347742, "normalized_mutual_information": 0.6799078617893382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.484375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8383421524665333, "mutual_information": 1.8383421524665333, "normalized_mutual_information": 0.6793387946438667, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.14375000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8446797162394446, "mutual_information": 1.8446797162394446, "normalized_mutual_information": 0.682629089715057, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15625000000000003, 0.25000000000000006, -0.125 ], "objective": 1.838022389778225, "mutual_information": 1.838022389778225, "normalized_mutual_information": 0.6795436454110465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.24375000000000005, -0.125 ], "objective": 1.832630398640627, "mutual_information": 1.832630398640627, "normalized_mutual_information": 0.6778299782243177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25625000000000003, -0.125 ], "objective": 1.840097646150654, "mutual_information": 1.840097646150654, "normalized_mutual_information": 0.6803797766476913, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.13125 ], "objective": 1.8409231865317413, "mutual_information": 1.8409231865317413, "normalized_mutual_information": 0.6807711912050749, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.11875 ], "objective": 1.8422996872470045, "mutual_information": 1.8422996872470045, "normalized_mutual_information": 0.6811314089830248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 230, "delta_rotation_deg_xyz": [ -0.515625, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8428654183406412, "mutual_information": 1.8428654183406412, "normalized_mutual_information": 0.6820904869633028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ -0.484375, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8315343686962098, "mutual_information": 1.8315343686962098, "normalized_mutual_information": 0.6780089210691401, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ -0.5, 0.21875, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8392903507967115, "mutual_information": 1.8392903507967115, "normalized_mutual_information": 0.6800535686819028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 233, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8420258860802445, "mutual_information": 1.8420258860802445, "normalized_mutual_information": 0.6808366891214669, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.515625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8438357975148456, "mutual_information": 1.8438357975148456, "normalized_mutual_information": 0.6819437634904807, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 235, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.484375 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8433763175797864, "mutual_information": 1.8433763175797864, "normalized_mutual_information": 0.6817531421370148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.14375000000000002, 0.25000000000000006, -0.125 ], "objective": 1.8442717789934757, "mutual_information": 1.8442717789934757, "normalized_mutual_information": 0.6817560908607639, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15625000000000003, 0.25000000000000006, -0.125 ], "objective": 1.841027597456975, "mutual_information": 1.841027597456975, "normalized_mutual_information": 0.6816687599916041, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.24375000000000005, -0.125 ], "objective": 1.8396540493468077, "mutual_information": 1.8396540493468077, "normalized_mutual_information": 0.6808719001774278, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25625000000000003, -0.125 ], "objective": 1.8434788121877954, "mutual_information": 1.8434788121877954, "normalized_mutual_information": 0.6821204659774006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.13125 ], "objective": 1.8450674609899416, "mutual_information": 1.8450674609899416, "normalized_mutual_information": 0.6825716098774595, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ -0.5, 0.234375, -0.5 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, -0.11875 ], "objective": 1.8439804290843835, "mutual_information": 1.8439804290843835, "normalized_mutual_information": 0.6824292018834287, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 241, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.9119395586367941, "translation_m": 0.3288236609491477, "recovered": false }, "mi_seconds": 0.6266669899923727, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.9306892533686635, "translation_m": 0.5250942940486881, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.45696385667617323, "archived_cost": 1035.6395600820597, "common_supported": 1565, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1107.869718068434, "supported_cost": 153.01734128396856, "signed_quantiles_m": [ -30.253212079478036, -2.5864462623832623, -0.09117936902260304, 0.1312482083376182, 29.68598833410929 ], "negative_fraction": 0.6781807714450202, "absolute_over_1m_fraction": 0.24122049510650548, "common_support_cost": 123.66251266529639 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1088.5104437417003, "supported_cost": 133.65806695723484, "signed_quantiles_m": [ -29.796248222801864, -2.129482405707089, 0.3657844876535702, 0.5882120650137914, 30.14295219078546 ], "negative_fraction": 0.30569948186528495, "absolute_over_1m_fraction": 0.20322394933793897, "common_support_cost": 106.29861932485424 }, "fit_zero": { "total": 12288, "supported": 1648, "cost": 1041.080209964693, "supported_cost": 78.17344387742997, "signed_quantiles_m": [ -27.48034048682841, -0.06237470371305412, 1.2212327627156014, 5.882173396849545, 60.21948446521766 ], "negative_fraction": 0.10740291262135922, "absolute_over_1m_fraction": 0.6462378640776699, "common_support_cost": 68.05890526407106 }, "fit_fitted_bias": { "total": 12288, "supported": 1648, "cost": 1035.6395600820597, "supported_cost": 72.73279399479671, "signed_quantiles_m": [ -27.02337663015224, 0.3945891529631191, 1.6781966193917746, 6.339137253525719, 60.67644832189384 ], "negative_fraction": 0.07766990291262135, "absolute_over_1m_fraction": 0.8610436893203883, "common_support_cost": 63.24243242175212 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.3514972528828872, "translation_m": 1.0925440820769396, "recovered": false }, "archived_accepted": false, "fitted_bias_m": 0.4912015513198966, "archived_cost": 1036.4478337458168, "common_supported": 1526, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 137.92364566286128 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1088.5769841443182, "supported_cost": 133.72460735985283, "signed_quantiles_m": [ -31.19744621321924, -2.144290441620957, 0.3996181715191156, 0.6313955048217331, 30.47517706125867 ], "negative_fraction": 0.2947610823258492, "absolute_over_1m_fraction": 0.20610247553252733, "common_support_cost": 117.35157354737728 }, "fit_zero": { "total": 12288, "supported": 1652, "cost": 1041.100029900216, "supported_cost": 78.55525883779788, "signed_quantiles_m": [ -33.44408092989725, 0.806149707514431, 3.2364198014270267, 10.811026969963983, 52.88638811727124 ], "negative_fraction": 0.0671912832929782, "absolute_over_1m_fraction": 0.937046004842615, "common_support_cost": 71.51134296763972 }, "fit_fitted_bias": { "total": 12288, "supported": 1652, "cost": 1036.4478337458172, "supported_cost": 73.90306268339882, "signed_quantiles_m": [ -32.95287937857735, 1.2973512588343277, 3.7276213527469233, 11.30222852128388, 53.377589668591135 ], "negative_fraction": 0.05811138014527845, "absolute_over_1m_fraction": 0.9570217917675545, "common_support_cost": 67.38612367491716 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.3514972528828872, "translation_m": 1.0925440820769396, "recovered": false }, "archived_accepted": false, "fitted_bias_m": 0.4912015513198966, "archived_cost": 1036.4478337458168, "common_supported": 1526, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 137.92364566286128 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1088.5769841443182, "supported_cost": 133.72460735985283, "signed_quantiles_m": [ -31.19744621321924, -2.144290441620957, 0.3996181715191156, 0.6313955048217331, 30.47517706125867 ], "negative_fraction": 0.2947610823258492, "absolute_over_1m_fraction": 0.20610247553252733, "common_support_cost": 117.35157354737728 }, "fit_zero": { "total": 12288, "supported": 1652, "cost": 1041.100029900216, "supported_cost": 78.55525883779788, "signed_quantiles_m": [ -33.44408092989725, 0.806149707514431, 3.2364198014270267, 10.811026969963983, 52.88638811727124 ], "negative_fraction": 0.0671912832929782, "absolute_over_1m_fraction": 0.937046004842615, "common_support_cost": 71.51134296763972 }, "fit_fitted_bias": { "total": 12288, "supported": 1652, "cost": 1036.4478337458172, "supported_cost": 73.90306268339882, "signed_quantiles_m": [ -32.95287937857735, 1.2973512588343277, 3.7276213527469233, 11.30222852128388, 53.377589668591135 ], "negative_fraction": 0.05811138014527845, "absolute_over_1m_fraction": 0.9570217917675545, "common_support_cost": 67.38612367491716 } } } ] }, { "case_id": "2011_09_26_0011-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4947772517789984, -0.49996981832296017, 0.49991278639474485, 0.5052849274292378 ] }, "transform_camera_lidar": { "translation_m": [ 0.032052447859530396, -0.09421671853346002, -0.4693869124058732 ], "rotation_quat_xyzw": [ 0.49498365182545684, -0.5001687635201684, 0.4991624772111013, 0.5056275445114888 ] }, "best_delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "best_delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.8883726785849506, "normalized_mutual_information": 0.7054031909350634, "visible_point_count": 1768, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.9302071859021357, "normalized_mutual_information": 0.7179859844949686, "visible_point_count": 550, "projected_count_before_visibility": 636 }, { "frame_id": "frame-116", "mutual_information": 1.8842836313444669, "normalized_mutual_information": 0.7032106254049729, "visible_point_count": 599, "projected_count_before_visibility": 679 }, { "frame_id": "frame-174", "mutual_information": 1.8506272185082495, "normalized_mutual_information": 0.6950129629052489, "visible_point_count": 619, "projected_count_before_visibility": 696 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.9322382968594713, "normalized_mutual_information": 0.7165257506139033, "visible_point_count": 1696, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.9477603424698064, "normalized_mutual_information": 0.7202934848988563, "visible_point_count": 528, "projected_count_before_visibility": 617 }, { "frame_id": "frame-116", "mutual_information": 1.9147987026412476, "normalized_mutual_information": 0.709697732183539, "visible_point_count": 569, "projected_count_before_visibility": 663 }, { "frame_id": "frame-174", "mutual_information": 1.9341558454673602, "normalized_mutual_information": 0.7195860347593145, "visible_point_count": 599, "projected_count_before_visibility": 683 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8883726785849506, "mutual_information": 1.8883726785849506, "normalized_mutual_information": 0.7054031909350634, "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": 1.8507159831845275, "mutual_information": 1.8507159831845275, "normalized_mutual_information": 0.6987999525872061, "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": 1.8016006230157986, "mutual_information": 1.8016006230157986, "normalized_mutual_information": 0.6695960971227178, "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": 1.8793429620992967, "mutual_information": 1.8793429620992967, "normalized_mutual_information": 0.7008112843620693, "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": 1.8782000297598807, "mutual_information": 1.8782000297598807, "normalized_mutual_information": 0.7015191764968066, "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": 1.8750508020063625, "mutual_information": 1.8750508020063625, "normalized_mutual_information": 0.6995420801635782, "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": 1.8476636182186468, "mutual_information": 1.8476636182186468, "normalized_mutual_information": 0.6910442727878828, "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": 1.8817270296124822, "mutual_information": 1.8817270296124822, "normalized_mutual_information": 0.702027668813256, "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": 1.8861585161713108, "mutual_information": 1.8861585161713108, "normalized_mutual_information": 0.7044696451843558, "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": 1.7958264960151842, "mutual_information": 1.7958264960151842, "normalized_mutual_information": 0.6654206860959756, "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": 1.8303697016717073, "mutual_information": 1.8303697016717073, "normalized_mutual_information": 0.6861082918427286, "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": 1.894083406908211, "mutual_information": 1.894083406908211, "normalized_mutual_information": 0.7052086727435336, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 13, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.8541982868960714, "mutual_information": 1.8541982868960714, "normalized_mutual_information": 0.6924127063388967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8538596243153658, "mutual_information": 1.8538596243153658, "normalized_mutual_information": 0.6970144219411364, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.825698023262919, "mutual_information": 1.825698023262919, "normalized_mutual_information": 0.6762697138495711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8831655995312238, "mutual_information": 1.8831655995312238, "normalized_mutual_information": 0.701795062544151, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.884950913012838, "mutual_information": 1.884950913012838, "normalized_mutual_information": 0.7024282138078547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.9006107312491718, "mutual_information": 1.9006107312491718, "normalized_mutual_information": 0.7079878095654273, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.882452467196746, "mutual_information": 1.882452467196746, "normalized_mutual_information": 0.7022878824609342, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.1 ], "objective": 1.897956330971983, "mutual_information": 1.897956330971983, "normalized_mutual_information": 0.7084649365547432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.1 ], "objective": 1.8962725856388307, "mutual_information": 1.8962725856388307, "normalized_mutual_information": 0.7062999390594666, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.828625199248896, "mutual_information": 1.828625199248896, "normalized_mutual_information": 0.6767092916178689, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.8158164476334608, "mutual_information": 1.8158164476334608, "normalized_mutual_information": 0.6784386430227459, "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, -0.2 ], "objective": 1.9047753671642715, "mutual_information": 1.9047753671642715, "normalized_mutual_information": 0.7077866336364926, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8883726785849506, "mutual_information": 1.8883726785849506, "normalized_mutual_information": 0.7054031909350634, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8514144519443008, "mutual_information": 1.8514144519443008, "normalized_mutual_information": 0.6952791885832544, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8544712796235334, "mutual_information": 1.8544712796235334, "normalized_mutual_information": 0.6859989012794325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.891854114593462, "mutual_information": 1.891854114593462, "normalized_mutual_information": 0.7026366300863804, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8761566682422137, "mutual_information": 1.8761566682422137, "normalized_mutual_information": 0.6983304830076461, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8977979312323736, "mutual_information": 1.8977979312323736, "normalized_mutual_information": 0.7044132819532486, "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, -0.2 ], "objective": 1.8955532951221248, "mutual_information": 1.8955532951221248, "normalized_mutual_information": 0.7052544529735315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.2 ], "objective": 1.8974096963003728, "mutual_information": 1.8974096963003728, "normalized_mutual_information": 0.7050339534556588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.2 ], "objective": 1.8903146641783337, "mutual_information": 1.8903146641783337, "normalized_mutual_information": 0.7021341927899764, "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, -0.2 ], "objective": 1.8433955160510995, "mutual_information": 1.8433955160510995, "normalized_mutual_information": 0.6800811015979789, "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, -0.2 ], "objective": 1.8088075892223294, "mutual_information": 1.8088075892223294, "normalized_mutual_information": 0.6742685191545652, "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, -0.30000000000000004 ], "objective": 1.903309708160532, "mutual_information": 1.903309708160532, "normalized_mutual_information": 0.7050750333117387, "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, -0.1 ], "objective": 1.894083406908211, "mutual_information": 1.894083406908211, "normalized_mutual_information": 0.7052086727435336, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9035124470861815, "mutual_information": 1.9035124470861815, "normalized_mutual_information": 0.7113177140709861, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9152206612255427, "mutual_information": 1.9152206612255427, "normalized_mutual_information": 0.7093813311569517, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.0, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8996052701784194, "mutual_information": 1.8996052701784194, "normalized_mutual_information": 0.7056944332583805, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.0, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.889829693373328, "mutual_information": 1.889829693373328, "normalized_mutual_information": 0.7019289334837815, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.0, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9020640531834634, "mutual_information": 1.9020640531834634, "normalized_mutual_information": 0.7065493020842584, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9047477284650796, "mutual_information": 1.9047477284650796, "normalized_mutual_information": 0.7073714582690321, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9002137110193826, "mutual_information": 1.9002137110193826, "normalized_mutual_information": 0.7060817772841266, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.2 ], "objective": 1.8963863106029992, "mutual_information": 1.8963863106029992, "normalized_mutual_information": 0.7037796041602625, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.2 ], "objective": 1.8876728357086876, "mutual_information": 1.8876728357086876, "normalized_mutual_information": 0.7000966120012692, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.2 ], "objective": 1.865692332611952, "mutual_information": 1.865692332611952, "normalized_mutual_information": 0.6943729253155064, "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, -0.25 ], "objective": 1.9039415998159033, "mutual_information": 1.9039415998159033, "normalized_mutual_information": 0.7069823067655593, "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, -0.15000000000000002 ], "objective": 1.9000666093774363, "mutual_information": 1.9000666093774363, "normalized_mutual_information": 0.7062510444690311, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9047753671642715, "mutual_information": 1.9047753671642715, "normalized_mutual_information": 0.7077866336364926, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8544712796235334, "mutual_information": 1.8544712796235334, "normalized_mutual_information": 0.6859989012794325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.125, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9112977286687454, "mutual_information": 1.9112977286687454, "normalized_mutual_information": 0.7090624482489923, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.125, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8934346870094478, "mutual_information": 1.8934346870094478, "normalized_mutual_information": 0.704383524848696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.125, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.90172780428857, "mutual_information": 1.90172780428857, "normalized_mutual_information": 0.7031841552453226, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9010946901833883, "mutual_information": 1.9010946901833883, "normalized_mutual_information": 0.7046386283023134, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9085351533115145, "mutual_information": 1.9085351533115145, "normalized_mutual_information": 0.7074518074668038, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.2 ], "objective": 1.9010305833363101, "mutual_information": 1.9010305833363101, "normalized_mutual_information": 0.7038116162114099, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.2 ], "objective": 1.839817362421055, "mutual_information": 1.839817362421055, "normalized_mutual_information": 0.6787345390489551, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.2 ], "objective": 1.9143877669551452, "mutual_information": 1.9143877669551452, "normalized_mutual_information": 0.7072491074914017, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.25 ], "objective": 1.9149234513336786, "mutual_information": 1.9149234513336786, "normalized_mutual_information": 0.7090299416460005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.15000000000000002 ], "objective": 1.915036154672648, "mutual_information": 1.915036154672648, "normalized_mutual_information": 0.7099460310743985, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.0625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9171647767626154, "mutual_information": 1.9171647767626154, "normalized_mutual_information": 0.7104344609653276, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.1875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.8908904660944217, "mutual_information": 1.8908904660944217, "normalized_mutual_information": 0.6985517514077918, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.125, -0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9157820803375847, "mutual_information": 1.9157820803375847, "normalized_mutual_information": 0.7111807233898663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9005437958382725, "mutual_information": 1.9005437958382725, "normalized_mutual_information": 0.7047599330565077, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.125, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.916336258038017, "mutual_information": 1.916336258038017, "normalized_mutual_information": 0.7093926888109316, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9045620328864301, "mutual_information": 1.9045620328864301, "normalized_mutual_information": 0.706534441946431, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9185852585103425, "mutual_information": 1.9185852585103425, "normalized_mutual_information": 0.7110851088308472, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.2 ], "objective": 1.9036584062045956, "mutual_information": 1.9036584062045956, "normalized_mutual_information": 0.705483551855186, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.2 ], "objective": 1.8829441177610897, "mutual_information": 1.8829441177610897, "normalized_mutual_information": 0.6965394425084779, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.2 ], "objective": 1.9085477723464148, "mutual_information": 1.9085477723464148, "normalized_mutual_information": 0.705554226126219, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.225 ], "objective": 1.9144622500135846, "mutual_information": 1.9144622500135846, "normalized_mutual_information": 0.708412845537028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.17500000000000002 ], "objective": 1.9119797020021163, "mutual_information": 1.9119797020021163, "normalized_mutual_information": 0.7084766795174487, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.0625, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9128019060499633, "mutual_information": 1.9128019060499633, "normalized_mutual_information": 0.7083629237220022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.1875, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.8972000557652482, "mutual_information": 1.8972000557652482, "normalized_mutual_information": 0.7012960566708264, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.125, -0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9153996696838913, "mutual_information": 1.9153996696838913, "normalized_mutual_information": 0.7101561485587427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.918899759781026, "mutual_information": 1.918899759781026, "normalized_mutual_information": 0.7107794834305924, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.125, 0.0, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9177287052315128, "mutual_information": 1.9177287052315128, "normalized_mutual_information": 0.7094023327267523, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9160285912546549, "mutual_information": 1.9160285912546549, "normalized_mutual_information": 0.7105878877290164, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9085351533115145, "mutual_information": 1.9085351533115145, "normalized_mutual_information": 0.7074518074668038, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9152206612255427, "mutual_information": 1.9152206612255427, "normalized_mutual_information": 0.7093813311569517, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.8832253062326598, "mutual_information": 1.8832253062326598, "normalized_mutual_information": 0.6965518800005058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.025, -0.2 ], "objective": 1.912016352643479, "mutual_information": 1.912016352643479, "normalized_mutual_information": 0.7067816483051844, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.225 ], "objective": 1.9116488310557316, "mutual_information": 1.9116488310557316, "normalized_mutual_information": 0.7083166455454585, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.17500000000000002 ], "objective": 1.9180159864980875, "mutual_information": 1.9180159864980875, "normalized_mutual_information": 0.7113637329962654, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9191502290264684, "mutual_information": 1.9191502290264684, "normalized_mutual_information": 0.712514787381248, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.1875, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.8860686591866216, "mutual_information": 1.8860686591866216, "normalized_mutual_information": 0.6974506770239598, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9185852585103425, "mutual_information": 1.9185852585103425, "normalized_mutual_information": 0.7110851088308472, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.125, 0.125, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.898387078264717, "mutual_information": 1.898387078264717, "normalized_mutual_information": 0.7060984598640255, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.914706655711621, "mutual_information": 1.914706655711621, "normalized_mutual_information": 0.7084382000808048, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9070086812467342, "mutual_information": 1.9070086812467342, "normalized_mutual_information": 0.7072202841070608, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9156974324970228, "mutual_information": 1.9156974324970228, "normalized_mutual_information": 0.7093303285971069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9005437958382725, "mutual_information": 1.9005437958382725, "normalized_mutual_information": 0.7047599330565077, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.8856257437953705, "mutual_information": 1.8856257437953705, "normalized_mutual_information": 0.6971889315055115, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.025, -0.2 ], "objective": 1.9126964716244166, "mutual_information": 1.9126964716244166, "normalized_mutual_information": 0.7082805162897309, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.225 ], "objective": 1.910796391842713, "mutual_information": 1.910796391842713, "normalized_mutual_information": 0.7085096644575865, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.17500000000000002 ], "objective": 1.9100161772605577, "mutual_information": 1.9100161772605577, "normalized_mutual_information": 0.707825289181106, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.0, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.901372122272721, "mutual_information": 1.901372122272721, "normalized_mutual_information": 0.7060705318715033, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.125, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.918899759781026, "mutual_information": 1.918899759781026, "normalized_mutual_information": 0.7107794834305924, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.0625, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9128019060499633, "mutual_information": 1.9128019060499633, "normalized_mutual_information": 0.7083629237220022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.0625, 0.125, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9123827458786549, "mutual_information": 1.9123827458786549, "normalized_mutual_information": 0.7111271208604452, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9220848014883074, "mutual_information": 1.9220848014883074, "normalized_mutual_information": 0.7129761570579415, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9110004978801094, "mutual_information": 1.9110004978801094, "normalized_mutual_information": 0.7094265134520382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9091510798232878, "mutual_information": 1.9091510798232878, "normalized_mutual_information": 0.7083979396875998, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9143615911590472, "mutual_information": 1.9143615911590472, "normalized_mutual_information": 0.7110688793921249, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.9039089727104959, "mutual_information": 1.9039089727104959, "normalized_mutual_information": 0.7065942332930751, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.025, -0.2 ], "objective": 1.9091160009574513, "mutual_information": 1.9091160009574513, "normalized_mutual_information": 0.7088077502375758, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.225 ], "objective": 1.916460382221849, "mutual_information": 1.916460382221849, "normalized_mutual_information": 0.7106502673541896, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.17500000000000002 ], "objective": 1.9182598141989284, "mutual_information": 1.9182598141989284, "normalized_mutual_information": 0.7116055260891664, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.0, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9036919631890505, "mutual_information": 1.9036919631890505, "normalized_mutual_information": 0.7072491383587177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.914706655711621, "mutual_information": 1.914706655711621, "normalized_mutual_information": 0.7084382000808048, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.0625, 0.0, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9160371746518017, "mutual_information": 1.9160371746518017, "normalized_mutual_information": 0.7096857164625877, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.0625, 0.125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.90497723171832, "mutual_information": 1.90497723171832, "normalized_mutual_information": 0.7082646249795532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.125 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9072333852625174, "mutual_information": 1.9072333852625174, "normalized_mutual_information": 0.7068694491145227, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9191502290264684, "mutual_information": 1.9191502290264684, "normalized_mutual_information": 0.712514787381248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.2 ], "objective": 1.9109286080526118, "mutual_information": 1.9109286080526118, "normalized_mutual_information": 0.7090635202441126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.9121768594655801, "mutual_information": 1.9121768594655801, "normalized_mutual_information": 0.7091904252631552, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.9029685861612833, "mutual_information": 1.9029685861612833, "normalized_mutual_information": 0.7056343152922387, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.025, -0.2 ], "objective": 1.9066755048212116, "mutual_information": 1.9066755048212116, "normalized_mutual_information": 0.7081511440919294, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.225 ], "objective": 1.9078931354333675, "mutual_information": 1.9078931354333675, "normalized_mutual_information": 0.7072760922094611, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.17500000000000002 ], "objective": 1.9194005915072536, "mutual_information": 1.9194005915072536, "normalized_mutual_information": 0.7116249617812512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.03125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9081381057288382, "mutual_information": 1.9081381057288382, "normalized_mutual_information": 0.7093260315811508, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.09375, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9186997449741223, "mutual_information": 1.9186997449741223, "normalized_mutual_information": 0.7109425812651281, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.0625, 0.03125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9126125391473323, "mutual_information": 1.9126125391473323, "normalized_mutual_information": 0.709019214587841, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.0625, 0.09375, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.915756706528357, "mutual_information": 1.915756706528357, "normalized_mutual_information": 0.7113926179971554, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.09375 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9152934299534243, "mutual_information": 1.9152934299534243, "normalized_mutual_information": 0.7103231000562102, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.03125 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9181526918141376, "mutual_information": 1.9181526918141376, "normalized_mutual_information": 0.7119298407080602, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.037500000000000006, 0.0, -0.2 ], "objective": 1.9155042136505187, "mutual_information": 1.9155042136505187, "normalized_mutual_information": 0.7102753355095465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.2 ], "objective": 1.917119402402598, "mutual_information": 1.917119402402598, "normalized_mutual_information": 0.7112619616042165, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9264703102540253, "mutual_information": 1.9264703102540253, "normalized_mutual_information": 0.7141284699781697, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0125, -0.2 ], "objective": 1.9116579147903536, "mutual_information": 1.9116579147903536, "normalized_mutual_information": 0.7089912308312113, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.21250000000000002 ], "objective": 1.9208617871331437, "mutual_information": 1.9208617871331437, "normalized_mutual_information": 0.7126277536513644, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.1875 ], "objective": 1.9181606718526483, "mutual_information": 1.9181606718526483, "normalized_mutual_information": 0.7111261302199329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.03125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9217056570463769, "mutual_information": 1.9217056570463769, "normalized_mutual_information": 0.7136263898082803, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.09375, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.912931361751583, "mutual_information": 1.912931361751583, "normalized_mutual_information": 0.7084096206110987, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.0625, 0.03125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9198167461044253, "mutual_information": 1.9198167461044253, "normalized_mutual_information": 0.7120153819607902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.0625, 0.09375, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9178507158730926, "mutual_information": 1.9178507158730926, "normalized_mutual_information": 0.7115426378531264, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.09375 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9262251417063212, "mutual_information": 1.9262251417063212, "normalized_mutual_information": 0.7136524561750471, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.03125 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9212590991345173, "mutual_information": 1.9212590991345173, "normalized_mutual_information": 0.7125639190756562, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.037500000000000006, -0.0125, -0.2 ], "objective": 1.9177301258041919, "mutual_information": 1.9177301258041919, "normalized_mutual_information": 0.7108941691777186, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.0125, -0.0125, -0.2 ], "objective": 1.9168998128720893, "mutual_information": 1.9168998128720893, "normalized_mutual_information": 0.7107548563703677, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.9029685861612833, "mutual_information": 1.9029685861612833, "normalized_mutual_information": 0.7056343152922387, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.2 ], "objective": 1.9220848014883074, "mutual_information": 1.9220848014883074, "normalized_mutual_information": 0.7129761570579415, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.21250000000000002 ], "objective": 1.9238916012138205, "mutual_information": 1.9238916012138205, "normalized_mutual_information": 0.7134465148200212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.1875 ], "objective": 1.9203448372137022, "mutual_information": 1.9203448372137022, "normalized_mutual_information": 0.7125133834777965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.931429638882672, "mutual_information": 1.931429638882672, "normalized_mutual_information": 0.716622183152789, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.078125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9197653542369055, "mutual_information": 1.9197653542369055, "normalized_mutual_information": 0.711717495666737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.0625, 0.046875, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9200269416125397, "mutual_information": 1.9200269416125397, "normalized_mutual_information": 0.7116304294432486, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.0625, 0.078125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9211001756470114, "mutual_information": 1.9211001756470114, "normalized_mutual_information": 0.7124855193653138, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.078125 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9258660722508465, "mutual_information": 1.9258660722508465, "normalized_mutual_information": 0.7139290385736049, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.046875 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9255877811136302, "mutual_information": 1.9255877811136302, "normalized_mutual_information": 0.7140351597121822, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.03125, -0.0125, -0.2 ], "objective": 1.9201613946567146, "mutual_information": 1.9201613946567146, "normalized_mutual_information": 0.7115739911677336, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.018750000000000003, -0.0125, -0.2 ], "objective": 1.9224240231598546, "mutual_information": 1.9224240231598546, "normalized_mutual_information": 0.7129750051788765, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.921374531784748, "mutual_information": 1.921374531784748, "normalized_mutual_information": 0.7119905348785704, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.00625, -0.2 ], "objective": 1.9300667679635481, "mutual_information": 1.9300667679635481, "normalized_mutual_information": 0.7154024002094896, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.20625000000000002 ], "objective": 1.9260376848269634, "mutual_information": 1.9260376848269634, "normalized_mutual_information": 0.7140222768858514, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.19375 ], "objective": 1.9190551587020612, "mutual_information": 1.9190551587020612, "normalized_mutual_information": 0.7118886665346761, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.03125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9217056570463769, "mutual_information": 1.9217056570463769, "normalized_mutual_information": 0.7136263898082803, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9264703102540253, "mutual_information": 1.9264703102540253, "normalized_mutual_information": 0.7141284699781697, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.046875, 0.046875, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9270209914457304, "mutual_information": 1.9270209914457304, "normalized_mutual_information": 0.7148783571126662, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.046875, 0.078125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9260571259072883, "mutual_information": 1.9260571259072883, "normalized_mutual_information": 0.7148202829419289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.078125 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9266443183306727, "mutual_information": 1.9266443183306727, "normalized_mutual_information": 0.715551331011187, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.046875 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.2 ], "objective": 1.9315785428168157, "mutual_information": 1.9315785428168157, "normalized_mutual_information": 0.7163638239619718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.03125, -0.0125, -0.2 ], "objective": 1.9249834181977195, "mutual_information": 1.9249834181977195, "normalized_mutual_information": 0.7141670270449665, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.018750000000000003, -0.0125, -0.2 ], "objective": 1.9279188975852792, "mutual_information": 1.9279188975852792, "normalized_mutual_information": 0.7156863981274632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9322382968594713, "mutual_information": 1.9322382968594713, "normalized_mutual_information": 0.7165257506139033, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.00625, -0.2 ], "objective": 1.9235581755953586, "mutual_information": 1.9235581755953586, "normalized_mutual_information": 0.7134512662697431, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.20625000000000002 ], "objective": 1.9277722730580151, "mutual_information": 1.9277722730580151, "normalized_mutual_information": 0.7153486534435199, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.0125, -0.19375 ], "objective": 1.925648155514614, "mutual_information": 1.925648155514614, "normalized_mutual_information": 0.7147140074372834, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.03125, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9303615279063286, "mutual_information": 1.9303615279063286, "normalized_mutual_information": 0.7169129168167122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.0625, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.921374531784748, "mutual_information": 1.921374531784748, "normalized_mutual_information": 0.7119905348785704, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.046875, 0.046875, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9262366030852516, "mutual_information": 1.9262366030852516, "normalized_mutual_information": 0.7142003529067932, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.046875, 0.078125, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9261668948605077, "mutual_information": 1.9261668948605077, "normalized_mutual_information": 0.714579358229015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.078125 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9286156468976208, "mutual_information": 1.9286156468976208, "normalized_mutual_information": 0.7153901733963733, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.046875 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.2 ], "objective": 1.9275773219615095, "mutual_information": 1.9275773219615095, "normalized_mutual_information": 0.7148300256332076, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.03125, -0.018750000000000003, -0.2 ], "objective": 1.927714578734595, "mutual_information": 1.927714578734595, "normalized_mutual_information": 0.7145450955439133, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.018750000000000003, -0.018750000000000003, -0.2 ], "objective": 1.9286521979855393, "mutual_information": 1.9286521979855393, "normalized_mutual_information": 0.715695123557167, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.025, -0.2 ], "objective": 1.917806567518424, "mutual_information": 1.917806567518424, "normalized_mutual_information": 0.711227205801991, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.012500000000000002, -0.2 ], "objective": 1.931429638882672, "mutual_information": 1.931429638882672, "normalized_mutual_information": 0.716622183152789, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.20625000000000002 ], "objective": 1.9293427325142798, "mutual_information": 1.9293427325142798, "normalized_mutual_information": 0.7157759019913579, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.046875, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ -0.025, -0.018750000000000003, -0.19375 ], "objective": 1.9217800159529155, "mutual_information": 1.9217800159529155, "normalized_mutual_information": 0.7128334965353336, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 181, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.10006478199250131, "translation_m": 0.2024266842587706, "recovered": false }, "mi_seconds": 0.40755113001796417, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.0356083375115341, "translation_m": 0.30680063299438426, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.37140145537569635, "archived_cost": 1013.7805150231178, "common_supported": 1678, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1107.869718068434, "supported_cost": 153.01734128396856, "signed_quantiles_m": [ -30.253212079478036, -2.5864462623832623, -0.09117936902260304, 0.1312482083376182, 29.68598833410929 ], "negative_fraction": 0.6781807714450202, "absolute_over_1m_fraction": 0.24122049510650548, "common_support_cost": 136.84091604839213 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1091.6787373553027, "supported_cost": 136.8263605708372, "signed_quantiles_m": [ -29.88181062410234, -2.215044807007566, 0.2802220863530933, 0.5026496637133145, 30.057389789484986 ], "negative_fraction": 0.3316062176165803, "absolute_over_1m_fraction": 0.20725388601036268, "common_support_cost": 121.96050547084437 }, "fit_zero": { "total": 12288, "supported": 1832, "cost": 1036.3330324569138, "supported_cost": 90.07803751251315, "signed_quantiles_m": [ -32.214059281390796, -0.7456311113013271, -0.2180448321310262, 2.497532730827565, 52.648433381391676 ], "negative_fraction": 0.6626637554585153, "absolute_over_1m_fraction": 0.25054585152838427, "common_support_cost": 75.05162770264258 }, "fit_fitted_bias": { "total": 12288, "supported": 1832, "cost": 1013.7805150231179, "supported_cost": 67.52552007871738, "signed_quantiles_m": [ -31.8426578260151, -0.3742296559256307, 0.15335662324467014, 2.8689341862032616, 53.01983483676737 ], "negative_fraction": 0.2445414847161572, "absolute_over_1m_fraction": 0.26746724890829693, "common_support_cost": 56.13036808541085 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.7270872703005035, "translation_m": 0.23724039786952628, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.2937014767270919, "archived_cost": 1038.986326259284, "common_supported": 1690, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 141.715079631834 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1095.9473027337074, "supported_cost": 141.09492594924203, "signed_quantiles_m": [ -31.394946287812047, -2.3417905162137616, 0.2021180969263109, 0.43389543022892835, 30.277676986665863 ], "negative_fraction": 0.3638457109959701, "absolute_over_1m_fraction": 0.21646516983304548, "common_support_cost": 129.03418301033685 }, "fit_zero": { "total": 12288, "supported": 1844, "cost": 1059.2964023156183, "supported_cost": 114.12739244575212, "signed_quantiles_m": [ -55.38767590451418, -1.1859486747555221, -0.20804745996296425, 1.2300600103569757, 42.51732149197076 ], "negative_fraction": 0.7364425162689805, "absolute_over_1m_fraction": 0.2158351409978308, "common_support_cost": 98.04960596339414 }, "fit_fitted_bias": { "total": 12288, "supported": 1844, "cost": 1038.986326259284, "supported_cost": 93.81731638941793, "signed_quantiles_m": [ -55.09397442778709, -0.8922471980284302, 0.08565401676412765, 1.5237614870840677, 42.811022968697856 ], "negative_fraction": 0.2977223427331887, "absolute_over_1m_fraction": 0.22288503253796096, "common_support_cost": 80.3568069517058 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.7270872703005035, "translation_m": 0.23724039786952628, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.3445461541904765, "archived_cost": 1038.766209031066, "common_supported": 1690, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 141.715079631834 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1094.0211208808287, "supported_cost": 139.16874409636335, "signed_quantiles_m": [ -31.344101610348662, -2.290945838750377, 0.2529627743896955, 0.48474010769231296, 30.328521664129248 ], "negative_fraction": 0.34196891191709844, "absolute_over_1m_fraction": 0.2118595279217041, "common_support_cost": 127.25259064244487 }, "fit_zero": { "total": 12288, "supported": 1844, "cost": 1059.2964023156183, "supported_cost": 114.12739244575212, "signed_quantiles_m": [ -55.38767590451418, -1.1859486747555221, -0.20804745996296425, 1.2300600103569757, 42.51732149197076 ], "negative_fraction": 0.7364425162689805, "absolute_over_1m_fraction": 0.2158351409978308, "common_support_cost": 98.04960596339414 }, "fit_fitted_bias": { "total": 12288, "supported": 1844, "cost": 1038.766209031066, "supported_cost": 93.59719916119994, "signed_quantiles_m": [ -55.04312975032371, -0.8414025205650456, 0.13649869422751226, 1.5746061645474523, 42.86186764616124 ], "negative_fraction": 0.2239696312364425, "absolute_over_1m_fraction": 0.2245119305856833, "common_support_cost": 80.15471010822033 } } } ] }, { "case_id": "2011_09_26_0011-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.4925831399386632, -0.49327649462345813, 0.4977114921133187, 0.5160653260184167 ] }, "transform_camera_lidar": { "translation_m": [ 0.007052447859530395, -0.12546671853346003, -0.4443869124058732 ], "rotation_quat_xyzw": [ 0.49291253876632884, -0.49970442493030554, 0.5000971170574599, 0.507183980763216 ] }, "best_delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "best_delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5776138478858197, "normalized_mutual_information": 0.6093578781468163, "visible_point_count": 1611, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.5912525472907948, "normalized_mutual_information": 0.6132761730236214, "visible_point_count": 504, "projected_count_before_visibility": 588 }, { "frame_id": "frame-116", "mutual_information": 1.523621854117358, "normalized_mutual_information": 0.5930044443788973, "visible_point_count": 540, "projected_count_before_visibility": 621 }, { "frame_id": "frame-174", "mutual_information": 1.6179671422493058, "normalized_mutual_information": 0.6217930170379303, "visible_point_count": 567, "projected_count_before_visibility": 645 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.9036374236602829, "normalized_mutual_information": 0.7122830909240289, "visible_point_count": 1703, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-58", "mutual_information": 1.9434661449172648, "normalized_mutual_information": 0.7225144992560787, "visible_point_count": 533, "projected_count_before_visibility": 623 }, { "frame_id": "frame-116", "mutual_information": 1.9015751514324664, "normalized_mutual_information": 0.713992179026401, "visible_point_count": 570, "projected_count_before_visibility": 666 }, { "frame_id": "frame-174", "mutual_information": 1.8658709746311173, "normalized_mutual_information": 0.7003425944896067, "visible_point_count": 600, "projected_count_before_visibility": 686 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5776138478858197, "mutual_information": 1.5776138478858197, "normalized_mutual_information": 0.6093578781468163, "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": 1.5391254643195573, "mutual_information": 1.5391254643195573, "normalized_mutual_information": 0.5990065070918157, "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": 1.6126107050994216, "mutual_information": 1.6126107050994216, "normalized_mutual_information": 0.6182699746809148, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 4, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5748198285046116, "mutual_information": 1.5748198285046116, "normalized_mutual_information": 0.6045444047224638, "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": 1.5594210306918599, "mutual_information": 1.5594210306918599, "normalized_mutual_information": 0.6026795433788256, "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": 1.5630219561236853, "mutual_information": 1.5630219561236853, "normalized_mutual_information": 0.6010191917144305, "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": 1.5747008907207976, "mutual_information": 1.5747008907207976, "normalized_mutual_information": 0.6101153730656784, "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": 1.5778810937503238, "mutual_information": 1.5778810937503238, "normalized_mutual_information": 0.6081702907219847, "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": 1.5683848764764292, "mutual_information": 1.5683848764764292, "normalized_mutual_information": 0.604680001290111, "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": 1.6048571361303037, "mutual_information": 1.6048571361303037, "normalized_mutual_information": 0.618769638106214, "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": 1.5700134091791285, "mutual_information": 1.5700134091791285, "normalized_mutual_information": 0.6054399521465329, "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": 1.5630555170123221, "mutual_information": 1.5630555170123221, "normalized_mutual_information": 0.6008986432116256, "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": 1.5793050938749722, "mutual_information": 1.5793050938749722, "normalized_mutual_information": 0.6094534214918363, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5776138478858197, "mutual_information": 1.5776138478858197, "normalized_mutual_information": 0.6093578781468163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6350391095476162, "mutual_information": 1.6350391095476162, "normalized_mutual_information": 0.6252743884728298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.622459892093998, "mutual_information": 1.622459892093998, "normalized_mutual_information": 0.6200110079998814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5824634648932898, "mutual_information": 1.5824634648932898, "normalized_mutual_information": 0.605638770912987, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5735542777173388, "mutual_information": 1.5735542777173388, "normalized_mutual_information": 0.6034381569332695, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6120325935315798, "mutual_information": 1.6120325935315798, "normalized_mutual_information": 0.6203087403662718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.6150234528016025, "mutual_information": 1.6150234528016025, "normalized_mutual_information": 0.6188485423279197, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.5875466140321048, "mutual_information": 1.5875466140321048, "normalized_mutual_information": 0.6081784623855536, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.649708026739238, "mutual_information": 1.649708026739238, "normalized_mutual_information": 0.6352914574239898, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5833530455412055, "mutual_information": 1.5833530455412055, "normalized_mutual_information": 0.6055751348594538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 24, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.599460099215766, "mutual_information": 1.599460099215766, "normalized_mutual_information": 0.6120388871227521, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.6069183707220513, "mutual_information": 1.6069183707220513, "normalized_mutual_information": 0.6173520578819968, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6048571361303037, "mutual_information": 1.6048571361303037, "normalized_mutual_information": 0.618769638106214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.734417751800396, "mutual_information": 1.734417751800396, "normalized_mutual_information": 0.6640077967496965, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6642838208936468, "mutual_information": 1.6642838208936468, "normalized_mutual_information": 0.6386821784946597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6361926397794029, "mutual_information": 1.6361926397794029, "normalized_mutual_information": 0.6297643374267002, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6294348897482298, "mutual_information": 1.6294348897482298, "normalized_mutual_information": 0.6260584390255045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6678249269033796, "mutual_information": 1.6678249269033796, "normalized_mutual_information": 0.6394536189154252, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.6565389700232567, "mutual_information": 1.6565389700232567, "normalized_mutual_information": 0.6371084609350873, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.6266432303046032, "mutual_information": 1.6266432303046032, "normalized_mutual_information": 0.626483354284329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7239841837702123, "mutual_information": 1.7239841837702123, "normalized_mutual_information": 0.6592148768164803, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6126107050994216, "mutual_information": 1.6126107050994216, "normalized_mutual_information": 0.6182699746809148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.6385969267868425, "mutual_information": 1.6385969267868425, "normalized_mutual_information": 0.6283003588969187, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.6592654178583988, "mutual_information": 1.6592654178583988, "normalized_mutual_information": 0.6404885136702225, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.649708026739238, "mutual_information": 1.649708026739238, "normalized_mutual_information": 0.6352914574239898, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7584874408089615, "mutual_information": 1.7584874408089615, "normalized_mutual_information": 0.6667084642484425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.764742684186464, "mutual_information": 1.764742684186464, "normalized_mutual_information": 0.6714800133496769, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7159099868763927, "mutual_information": 1.7159099868763927, "normalized_mutual_information": 0.6586972212377125, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7112448870865504, "mutual_information": 1.7112448870865504, "normalized_mutual_information": 0.6560774021090267, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7450152859112074, "mutual_information": 1.7450152859112074, "normalized_mutual_information": 0.6678008440840556, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7527308556896555, "mutual_information": 1.7527308556896555, "normalized_mutual_information": 0.668156389292854, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.720313449434671, "mutual_information": 1.720313449434671, "normalized_mutual_information": 0.6603764710404564, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7120669591180662, "mutual_information": 1.7120669591180662, "normalized_mutual_information": 0.6482888030939437, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6350391095476162, "mutual_information": 1.6350391095476162, "normalized_mutual_information": 0.6252743884728298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.705415649777234, "mutual_information": 1.705415649777234, "normalized_mutual_information": 0.6522223690023377, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7382403471030876, "mutual_information": 1.7382403471030876, "normalized_mutual_information": 0.6641709458924768, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6642838208936468, "mutual_information": 1.6642838208936468, "normalized_mutual_information": 0.6386821784946597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7831279283165946, "mutual_information": 1.7831279283165946, "normalized_mutual_information": 0.6754586738685724, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7827278897189551, "mutual_information": 1.7827278897189551, "normalized_mutual_information": 0.678091330123728, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.734417751800396, "mutual_information": 1.734417751800396, "normalized_mutual_information": 0.6640077967496965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.5, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7374092775492915, "mutual_information": 1.7374092775492915, "normalized_mutual_information": 0.6618897598963093, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7604907478634166, "mutual_information": 1.7604907478634166, "normalized_mutual_information": 0.6715134787771619, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7645048650758828, "mutual_information": 1.7645048650758828, "normalized_mutual_information": 0.6721618357508331, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7378939756992284, "mutual_information": 1.7378939756992284, "normalized_mutual_information": 0.6619850727717164, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7343564327841055, "mutual_information": 1.7343564327841055, "normalized_mutual_information": 0.6542832139792504, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6434824078196657, "mutual_information": 1.6434824078196657, "normalized_mutual_information": 0.6272159855837719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7320585838539302, "mutual_information": 1.7320585838539302, "normalized_mutual_information": 0.65876172943651, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7645018762909477, "mutual_information": 1.7645018762909477, "normalized_mutual_information": 0.6746225870469406, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.764742684186464, "mutual_information": 1.764742684186464, "normalized_mutual_information": 0.6714800133496769, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 1.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7463115760367487, "mutual_information": 1.7463115760367487, "normalized_mutual_information": 0.6545080792722686, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8212457511054183, "mutual_information": 1.8212457511054183, "normalized_mutual_information": 0.6858854637117952, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7584874408089615, "mutual_information": 1.7584874408089615, "normalized_mutual_information": 0.6667084642484425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.75, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7491889612755476, "mutual_information": 1.7491889612755476, "normalized_mutual_information": 0.6612974272215947, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7981681001220189, "mutual_information": 1.7981681001220189, "normalized_mutual_information": 0.6794252623112285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7886761797723902, "mutual_information": 1.7886761797723902, "normalized_mutual_information": 0.6769020043851057, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7697349808559928, "mutual_information": 1.7697349808559928, "normalized_mutual_information": 0.6677485763052071, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.718282054384891, "mutual_information": 1.718282054384891, "normalized_mutual_information": 0.6470721641134863, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7317733187257893, "mutual_information": 1.7317733187257893, "normalized_mutual_information": 0.6556062120104592, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7753977944684476, "mutual_information": 1.7753977944684476, "normalized_mutual_information": 0.6728490234089524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7699155805715752, "mutual_information": 1.7699155805715752, "normalized_mutual_information": 0.6684140969507318, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7827278897189551, "mutual_information": 1.7827278897189551, "normalized_mutual_information": 0.678091330123728, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7650369455331105, "mutual_information": 1.7650369455331105, "normalized_mutual_information": 0.6590857297995354, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8315331699929152, "mutual_information": 1.8315331699929152, "normalized_mutual_information": 0.6868680282972891, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7831279283165946, "mutual_information": 1.7831279283165946, "normalized_mutual_information": 0.6754586738685724, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.75, -0.5, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7575068174381947, "mutual_information": 1.7575068174381947, "normalized_mutual_information": 0.6632950281273725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8425578975709058, "mutual_information": 1.8425578975709058, "normalized_mutual_information": 0.6938553909146737, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8387798084593125, "mutual_information": 1.8387798084593125, "normalized_mutual_information": 0.6904088175331307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7820330664370225, "mutual_information": 1.7820330664370225, "normalized_mutual_information": 0.6720838844103393, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.741077522449818, "mutual_information": 1.741077522449818, "normalized_mutual_information": 0.6529395837512624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.752024970166243, "mutual_information": 1.752024970166243, "normalized_mutual_information": 0.6636445472085207, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8143477760319886, "mutual_information": 1.8143477760319886, "normalized_mutual_information": 0.680759041027731, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.8041440954750978, "mutual_information": 1.8041440954750978, "normalized_mutual_information": 0.6801633033703302, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7975370178784296, "mutual_information": 1.7975370178784296, "normalized_mutual_information": 0.6827205648404265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8025840984453987, "mutual_information": 1.8025840984453987, "normalized_mutual_information": 0.6717756138317825, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8490171152279746, "mutual_information": 1.8490171152279746, "normalized_mutual_information": 0.6947091027668821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7981681001220189, "mutual_information": 1.7981681001220189, "normalized_mutual_information": 0.6794252623112285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8212457511054183, "mutual_information": 1.8212457511054183, "normalized_mutual_information": 0.6858854637117952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8514252160501272, "mutual_information": 1.8514252160501272, "normalized_mutual_information": 0.6984005160081405, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8506392551710222, "mutual_information": 1.8506392551710222, "normalized_mutual_information": 0.6966635895623291, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.8131899456783855, "mutual_information": 1.8131899456783855, "normalized_mutual_information": 0.6824330745803154, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7753182107927306, "mutual_information": 1.7753182107927306, "normalized_mutual_information": 0.6616692532362948, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7668073314294872, "mutual_information": 1.7668073314294872, "normalized_mutual_information": 0.6678182419999881, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8373196255138442, "mutual_information": 1.8373196255138442, "normalized_mutual_information": 0.6913496991748213, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.8244270129926636, "mutual_information": 1.8244270129926636, "normalized_mutual_information": 0.6888782521838079, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.5, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7921191444029827, "mutual_information": 1.7921191444029827, "normalized_mutual_information": 0.6802242162437682, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 1.0, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.806906408858132, "mutual_information": 1.806906408858132, "normalized_mutual_information": 0.6735077122047484, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8613262647805413, "mutual_information": 1.8613262647805413, "normalized_mutual_information": 0.6997155719276322, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8107805020201113, "mutual_information": 1.8107805020201113, "normalized_mutual_information": 0.6848973489014902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8425578975709058, "mutual_information": 1.8425578975709058, "normalized_mutual_information": 0.6938553909146737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8065717911327936, "mutual_information": 1.8065717911327936, "normalized_mutual_information": 0.6799553489243518, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8599393919908362, "mutual_information": 1.8599393919908362, "normalized_mutual_information": 0.7004965956831191, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.8191627368995118, "mutual_information": 1.8191627368995118, "normalized_mutual_information": 0.6841271611317413, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.782685487727463, "mutual_information": 1.782685487727463, "normalized_mutual_information": 0.6644315299796184, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.755863249278784, "mutual_information": 1.755863249278784, "normalized_mutual_information": 0.6619107933815364, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8485348201747727, "mutual_information": 1.8485348201747727, "normalized_mutual_information": 0.6960711361546599, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.8292908934152046, "mutual_information": 1.8292908934152046, "normalized_mutual_information": 0.6911202625344255, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7988460617133202, "mutual_information": 1.7988460617133202, "normalized_mutual_information": 0.681583553434427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8491161450560103, "mutual_information": 1.8491161450560103, "normalized_mutual_information": 0.6877586448197723, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8698831549146722, "mutual_information": 1.8698831549146722, "normalized_mutual_information": 0.7009618401756045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8514252160501272, "mutual_information": 1.8514252160501272, "normalized_mutual_information": 0.6984005160081405, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8490171152279746, "mutual_information": 1.8490171152279746, "normalized_mutual_information": 0.6947091027668821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8534144039303426, "mutual_information": 1.8534144039303426, "normalized_mutual_information": 0.6954121145690073, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.846418164973042, "mutual_information": 1.846418164973042, "normalized_mutual_information": 0.6947737186438051, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.8685966227005, "mutual_information": 1.8685966227005, "normalized_mutual_information": 0.7018290040280326, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.8062816834611943, "mutual_information": 1.8062816834611943, "normalized_mutual_information": 0.6731314219089685, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7629345846617621, "mutual_information": 1.7629345846617621, "normalized_mutual_information": 0.6642371165618309, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8725703536026437, "mutual_information": 1.8725703536026437, "normalized_mutual_information": 0.703504363716526, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.8358630225247694, "mutual_information": 1.8358630225247694, "normalized_mutual_information": 0.6908870798687525, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8034380711483966, "mutual_information": 1.8034380711483966, "normalized_mutual_information": 0.6809000942886572, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8697896120882824, "mutual_information": 1.8697896120882824, "normalized_mutual_information": 0.6942152988664079, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8708725121774623, "mutual_information": 1.8708725121774623, "normalized_mutual_information": 0.7023595098886853, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8485348201747727, "mutual_information": 1.8485348201747727, "normalized_mutual_information": 0.6960711361546599, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8760247947955193, "mutual_information": 1.8760247947955193, "normalized_mutual_information": 0.7039479913266896, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8689653254551788, "mutual_information": 1.8689653254551788, "normalized_mutual_information": 0.7004434429712448, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.8714054512598939, "mutual_information": 1.8714054512598939, "normalized_mutual_information": 0.7031591231323769, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.1, -0.1, -0.1 ], "objective": 1.8666785353982498, "mutual_information": 1.8666785353982498, "normalized_mutual_information": 0.7015909790861995, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.8270319697238457, "mutual_information": 1.8270319697238457, "normalized_mutual_information": 0.6792273746181959, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7705044583768075, "mutual_information": 1.7705044583768075, "normalized_mutual_information": 0.6638211545481538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.2 ], "objective": 1.8745332372311931, "mutual_information": 1.8745332372311931, "normalized_mutual_information": 0.7019759643350066, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8613262647805413, "mutual_information": 1.8613262647805413, "normalized_mutual_information": 0.6997155719276322, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.5, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8179690951574188, "mutual_information": 1.8179690951574188, "normalized_mutual_information": 0.6865211302309605, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 1.0, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8549570284686487, "mutual_information": 1.8549570284686487, "normalized_mutual_information": 0.6904498214937297, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8892863175878338, "mutual_information": 1.8892863175878338, "normalized_mutual_information": 0.7058450661259122, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.75, -0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8373196255138442, "mutual_information": 1.8373196255138442, "normalized_mutual_information": 0.6913496991748213, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8528931122741579, "mutual_information": 1.8528931122741579, "normalized_mutual_information": 0.6945591119253315, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8725703536026437, "mutual_information": 1.8725703536026437, "normalized_mutual_information": 0.703504363716526, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.8815032306479342, "mutual_information": 1.8815032306479342, "normalized_mutual_information": 0.7048819527097355, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, -0.1 ], "objective": 1.8544798329179946, "mutual_information": 1.8544798329179946, "normalized_mutual_information": 0.6960639769767472, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.8266245377306813, "mutual_information": 1.8266245377306813, "normalized_mutual_information": 0.6800578497907103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7836823251213232, "mutual_information": 1.7836823251213232, "normalized_mutual_information": 0.6707917203985486, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.2 ], "objective": 1.8614547185360744, "mutual_information": 1.8614547185360744, "normalized_mutual_information": 0.6956894196432367, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8490171152279746, "mutual_information": 1.8490171152279746, "normalized_mutual_information": 0.6947091027668821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.5, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8153975548775747, "mutual_information": 1.8153975548775747, "normalized_mutual_information": 0.6838518499543585, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 1.0, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8540320027045976, "mutual_information": 1.8540320027045976, "normalized_mutual_information": 0.6878506962493626, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.75, -1.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.872272774017996, "mutual_information": 1.872272774017996, "normalized_mutual_information": 0.6994129361628163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.75, -0.75, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8760247947955193, "mutual_information": 1.8760247947955193, "normalized_mutual_information": 0.7039479913266896, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8682058394670957, "mutual_information": 1.8682058394670957, "normalized_mutual_information": 0.6976250686738371, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8708725121774623, "mutual_information": 1.8708725121774623, "normalized_mutual_information": 0.7023595098886853, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.875725569171551, "mutual_information": 1.875725569171551, "normalized_mutual_information": 0.7011099013416265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, -0.1 ], "objective": 1.882442523837619, "mutual_information": 1.882442523837619, "normalized_mutual_information": 0.7046382670037854, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, -0.1 ], "objective": 1.830166391570615, "mutual_information": 1.830166391570615, "normalized_mutual_information": 0.6793517589486427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7908834740405928, "mutual_information": 1.7908834740405928, "normalized_mutual_information": 0.6697688183069165, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.2 ], "objective": 1.8784560829062729, "mutual_information": 1.8784560829062729, "normalized_mutual_information": 0.7017689819749006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8747929485655292, "mutual_information": 1.8747929485655292, "normalized_mutual_information": 0.7008362367032284, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.625, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8542350291094234, "mutual_information": 1.8542350291094234, "normalized_mutual_information": 0.6976058246925773, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.875, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8857023929325685, "mutual_information": 1.8857023929325685, "normalized_mutual_information": 0.7029247954004969, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.75, -1.125, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8617044075532927, "mutual_information": 1.8617044075532927, "normalized_mutual_information": 0.6960623999536613, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.75, -0.875, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8762104594066507, "mutual_information": 1.8762104594066507, "normalized_mutual_information": 0.7030748702982691, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8654992962716754, "mutual_information": 1.8654992962716754, "normalized_mutual_information": 0.6984074451120502, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8767616460830503, "mutual_information": 1.8767616460830503, "normalized_mutual_information": 0.7029579366907114, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, -0.1 ], "objective": 1.8798944677028302, "mutual_information": 1.8798944677028302, "normalized_mutual_information": 0.7037437928730178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8925764707642534, "mutual_information": 1.8925764707642534, "normalized_mutual_information": 0.7082293493947432, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.15000000000000002, -0.1 ], "objective": 1.8475512968043626, "mutual_information": 1.8475512968043626, "normalized_mutual_information": 0.6895915353264702, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.1 ], "objective": 1.8545055379960154, "mutual_information": 1.8545055379960154, "normalized_mutual_information": 0.6935955451283099, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.15000000000000002 ], "objective": 1.8867901552652018, "mutual_information": 1.8867901552652018, "normalized_mutual_information": 0.7046754263258052, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.05 ], "objective": 1.8796893061863358, "mutual_information": 1.8796893061863358, "normalized_mutual_information": 0.7030107441383633, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.625, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8588001240664151, "mutual_information": 1.8588001240664151, "normalized_mutual_information": 0.6990030310494517, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.875, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8881565077479958, "mutual_information": 1.8881565077479958, "normalized_mutual_information": 0.7037761765512524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.75, -1.125, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8654663084038454, "mutual_information": 1.8654663084038454, "normalized_mutual_information": 0.6977126988739828, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.75, -0.875, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.87186146689381, "mutual_information": 1.87186146689381, "normalized_mutual_information": 0.7021258013326728, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8719302380558644, "mutual_information": 1.8719302380558644, "normalized_mutual_information": 0.7002826482417425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8941536562897163, "mutual_information": 1.8941536562897163, "normalized_mutual_information": 0.7099368925989972, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8892863175878338, "mutual_information": 1.8892863175878338, "normalized_mutual_information": 0.7058450661259122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, -0.1 ], "objective": 1.882442523837619, "mutual_information": 1.882442523837619, "normalized_mutual_information": 0.7046382670037854, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.15000000000000002, -0.1 ], "objective": 1.8564709704689306, "mutual_information": 1.8564709704689306, "normalized_mutual_information": 0.6918132193638623, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.05, -0.1 ], "objective": 1.8732710381895792, "mutual_information": 1.8732710381895792, "normalized_mutual_information": 0.700446878775345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.15000000000000002 ], "objective": 1.8844992531703955, "mutual_information": 1.8844992531703955, "normalized_mutual_information": 0.7046079599219981, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.05 ], "objective": 1.877837693728259, "mutual_information": 1.877837693728259, "normalized_mutual_information": 0.7029326543291815, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ 0.625, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8656857747249038, "mutual_information": 1.8656857747249038, "normalized_mutual_information": 0.7035912585601763, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ 0.875, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8800891829756925, "mutual_information": 1.8800891829756925, "normalized_mutual_information": 0.701773034260229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ 0.75, -1.125, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8732850182952738, "mutual_information": 1.8732850182952738, "normalized_mutual_information": 0.7018341231858826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ 0.75, -0.875, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8863208024082538, "mutual_information": 1.8863208024082538, "normalized_mutual_information": 0.7079600279559566, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8925764707642534, "mutual_information": 1.8925764707642534, "normalized_mutual_information": 0.7082293493947432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.5 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8792338810608336, "mutual_information": 1.8792338810608336, "normalized_mutual_information": 0.7058635617631195, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8767616460830503, "mutual_information": 1.8767616460830503, "normalized_mutual_information": 0.7029579366907114, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.1, -0.1, -0.1 ], "objective": 1.8866744484232232, "mutual_information": 1.8866744484232232, "normalized_mutual_information": 0.7073964783932817, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.15000000000000002, -0.1 ], "objective": 1.8640359467242282, "mutual_information": 1.8640359467242282, "normalized_mutual_information": 0.6955140698210839, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.05, -0.1 ], "objective": 1.8641733110358405, "mutual_information": 1.8641733110358405, "normalized_mutual_information": 0.698443444991382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.15000000000000002 ], "objective": 1.893827170922954, "mutual_information": 1.893827170922954, "normalized_mutual_information": 0.7087796634272303, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.05 ], "objective": 1.8716950679634696, "mutual_information": 1.8716950679634696, "normalized_mutual_information": 0.7014427121981218, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ 0.6875, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8844065684752243, "mutual_information": 1.8844065684752243, "normalized_mutual_information": 0.7083782639154549, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ 0.8125, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8887840706851151, "mutual_information": 1.8887840706851151, "normalized_mutual_information": 0.7056251279840243, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ 0.75, -1.0625, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8820659446600712, "mutual_information": 1.8820659446600712, "normalized_mutual_information": 0.7050394621392332, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ 0.75, -0.9375, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.892591775766214, "mutual_information": 1.892591775766214, "normalized_mutual_information": 0.7100480816339965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.895844559270081, "mutual_information": 1.895844559270081, "normalized_mutual_information": 0.7091632338889128, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 199, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.4375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8835748062865239, "mutual_information": 1.8835748062865239, "normalized_mutual_information": 0.7067019736713793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.025, -0.1, -0.1 ], "objective": 1.886647267687658, "mutual_information": 1.886647267687658, "normalized_mutual_information": 0.7067651301847752, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.1, -0.1 ], "objective": 1.8857444708358952, "mutual_information": 1.8857444708358952, "normalized_mutual_information": 0.7082206489647999, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.125, -0.1 ], "objective": 1.8684958213637561, "mutual_information": 1.8684958213637561, "normalized_mutual_information": 0.6989769214037832, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.07500000000000001, -0.1 ], "objective": 1.8881763773208327, "mutual_information": 1.8881763773208327, "normalized_mutual_information": 0.7073904659381564, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.895624558416527, "mutual_information": 1.895624558416527, "normalized_mutual_information": 0.7099637502893579, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.07500000000000001 ], "objective": 1.8889960496250262, "mutual_information": 1.8889960496250262, "normalized_mutual_information": 0.7076318539267151, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ 0.6875, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.878486605299557, "mutual_information": 1.878486605299557, "normalized_mutual_information": 0.7054362139236768, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ 0.8125, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.881183946378746, "mutual_information": 1.881183946378746, "normalized_mutual_information": 0.7034207607221851, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ 0.75, -1.0625, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.888751048208501, "mutual_information": 1.888751048208501, "normalized_mutual_information": 0.706455608020984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ 0.75, -0.9375, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8863737434097825, "mutual_information": 1.8863737434097825, "normalized_mutual_information": 0.7065191947371288, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8925764707642534, "mutual_information": 1.8925764707642534, "normalized_mutual_information": 0.7082293493947432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.8941536562897163, "mutual_information": 1.8941536562897163, "normalized_mutual_information": 0.7099368925989972, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.025, -0.1, -0.1 ], "objective": 1.8917777481543878, "mutual_information": 1.8917777481543878, "normalized_mutual_information": 0.7070845503773825, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.1, -0.1 ], "objective": 1.8850839588137775, "mutual_information": 1.8850839588137775, "normalized_mutual_information": 0.7068579067992826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.125, -0.1 ], "objective": 1.8665223821109649, "mutual_information": 1.8665223821109649, "normalized_mutual_information": 0.6969628358665297, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.07500000000000001, -0.1 ], "objective": 1.8769466708265228, "mutual_information": 1.8769466708265228, "normalized_mutual_information": 0.7030568620829922, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9015532902350571, "mutual_information": 1.9015532902350571, "normalized_mutual_information": 0.7112852716418057, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 217, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.07500000000000001 ], "objective": 1.8974754206670514, "mutual_information": 1.8974754206670514, "normalized_mutual_information": 0.7100379757743883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ 0.6875, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8777518138833342, "mutual_information": 1.8777518138833342, "normalized_mutual_information": 0.7050907318467515, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ 0.8125, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8928405082042923, "mutual_information": 1.8928405082042923, "normalized_mutual_information": 0.7081479799372431, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ 0.75, -1.0625, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9000858711707782, "mutual_information": 1.9000858711707782, "normalized_mutual_information": 0.7101800682588517, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ 0.75, -0.9375, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8891701073340788, "mutual_information": 1.8891701073340788, "normalized_mutual_information": 0.7073015969909008, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.892082934591059, "mutual_information": 1.892082934591059, "normalized_mutual_information": 0.7079840534246209, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.895624558416527, "mutual_information": 1.895624558416527, "normalized_mutual_information": 0.7099637502893579, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.025, -0.1, -0.125 ], "objective": 1.8979448125379468, "mutual_information": 1.8979448125379468, "normalized_mutual_information": 0.7084534053577212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.07500000000000001, -0.1, -0.125 ], "objective": 1.8910787865126863, "mutual_information": 1.8910787865126863, "normalized_mutual_information": 0.7071217175628615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.125, -0.125 ], "objective": 1.8714878618350734, "mutual_information": 1.8714878618350734, "normalized_mutual_information": 0.6990735333079093, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.07500000000000001, -0.125 ], "objective": 1.8790750556638265, "mutual_information": 1.8790750556638265, "normalized_mutual_information": 0.7036043564166885, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.15 ], "objective": 1.9012200079868833, "mutual_information": 1.9012200079868833, "normalized_mutual_information": 0.7104634293073321, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1 ], "objective": 1.895844559270081, "mutual_information": 1.895844559270081, "normalized_mutual_information": 0.7091632338889128, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 230, "delta_rotation_deg_xyz": [ 0.71875, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8893839404978945, "mutual_information": 1.8893839404978945, "normalized_mutual_information": 0.707418823151773, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ 0.78125, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.890992529820806, "mutual_information": 1.890992529820806, "normalized_mutual_information": 0.7072382876188428, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ 0.75, -1.03125, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9014528511340705, "mutual_information": 1.9014528511340705, "normalized_mutual_information": 0.7104187683233003, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 233, "delta_rotation_deg_xyz": [ 0.75, -0.96875, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.89553997497842, "mutual_information": 1.89553997497842, "normalized_mutual_information": 0.7094846203443642, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.28125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.901359842363342, "mutual_information": 1.901359842363342, "normalized_mutual_information": 0.711630803160049, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 235, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.34375 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8981587328330427, "mutual_information": 1.8981587328330427, "normalized_mutual_information": 0.7103958479193725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.037500000000000006, -0.1, -0.125 ], "objective": 1.8997222521369412, "mutual_information": 1.8997222521369412, "normalized_mutual_information": 0.7100814097141438, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.0625, -0.1, -0.125 ], "objective": 1.8882213665975662, "mutual_information": 1.8882213665975662, "normalized_mutual_information": 0.706575467729019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1125, -0.125 ], "objective": 1.8866504364735874, "mutual_information": 1.8866504364735874, "normalized_mutual_information": 0.7066732541625216, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.08750000000000001, -0.125 ], "objective": 1.8882627432889185, "mutual_information": 1.8882627432889185, "normalized_mutual_information": 0.7068257144224973, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1375 ], "objective": 1.9008741608491864, "mutual_information": 1.9008741608491864, "normalized_mutual_information": 0.7108547272663327, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.1125 ], "objective": 1.9006784154768177, "mutual_information": 1.9006784154768177, "normalized_mutual_information": 0.7112226170678989, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 242, "delta_rotation_deg_xyz": [ 0.734375, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8981743608523989, "mutual_information": 1.8981743608523989, "normalized_mutual_information": 0.710521875716899, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 243, "delta_rotation_deg_xyz": [ 0.765625, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8987806625344696, "mutual_information": 1.8987806625344696, "normalized_mutual_information": 0.710138036948571, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 244, "delta_rotation_deg_xyz": [ 0.75, -1.015625, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9016481769962077, "mutual_information": 1.9016481769962077, "normalized_mutual_information": 0.7106395089178527, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 245, "delta_rotation_deg_xyz": [ 0.75, -0.984375, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8918786428761676, "mutual_information": 1.8918786428761676, "normalized_mutual_information": 0.7076869849222992, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 246, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9036374236602829, "mutual_information": 1.9036374236602829, "normalized_mutual_information": 0.7122830909240289, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 247, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.328125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8999496856595084, "mutual_information": 1.8999496856595084, "normalized_mutual_information": 0.7106092198707711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 248, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.043750000000000004, -0.1, -0.125 ], "objective": 1.8987739372833727, "mutual_information": 1.8987739372833727, "normalized_mutual_information": 0.7102012284261137, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 249, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05625, -0.1, -0.125 ], "objective": 1.899854557512672, "mutual_information": 1.899854557512672, "normalized_mutual_information": 0.7107027749609397, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 250, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.10625000000000001, -0.125 ], "objective": 1.8962044365006048, "mutual_information": 1.8962044365006048, "normalized_mutual_information": 0.7095545867667612, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 251, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.09375, -0.125 ], "objective": 1.8913215140099666, "mutual_information": 1.8913215140099666, "normalized_mutual_information": 0.7081394183314528, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 252, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.13125 ], "objective": 1.9008132534047073, "mutual_information": 1.9008132534047073, "normalized_mutual_information": 0.7109176670230775, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 253, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.11875 ], "objective": 1.8964450147304994, "mutual_information": 1.8964450147304994, "normalized_mutual_information": 0.7102533617216032, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 254, "delta_rotation_deg_xyz": [ 0.734375, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8958243767175265, "mutual_information": 1.8958243767175265, "normalized_mutual_information": 0.7094136427805836, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 255, "delta_rotation_deg_xyz": [ 0.765625, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8958885878713525, "mutual_information": 1.8958885878713525, "normalized_mutual_information": 0.7091902367884515, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 256, "delta_rotation_deg_xyz": [ 0.75, -1.015625, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.8985730518269879, "mutual_information": 1.8985730518269879, "normalized_mutual_information": 0.710003342814257, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 257, "delta_rotation_deg_xyz": [ 0.75, -0.984375, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9031025361595368, "mutual_information": 1.9031025361595368, "normalized_mutual_information": 0.7118062144447794, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 258, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.28125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.901359842363342, "mutual_information": 1.901359842363342, "normalized_mutual_information": 0.711630803160049, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 259, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.3125 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.125 ], "objective": 1.9015532902350571, "mutual_information": 1.9015532902350571, "normalized_mutual_information": 0.7112852716418057, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 260, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.043750000000000004, -0.1, -0.125 ], "objective": 1.9004092722961519, "mutual_information": 1.9004092722961519, "normalized_mutual_information": 0.7110669232310524, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 261, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05625, -0.1, -0.125 ], "objective": 1.9008111617549137, "mutual_information": 1.9008111617549137, "normalized_mutual_information": 0.711184130865059, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 262, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.10625000000000001, -0.125 ], "objective": 1.88823826829637, "mutual_information": 1.88823826829637, "normalized_mutual_information": 0.7067607483197587, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 263, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.09375, -0.125 ], "objective": 1.8990533780383032, "mutual_information": 1.8990533780383032, "normalized_mutual_information": 0.7106852749452642, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 264, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.13125 ], "objective": 1.8994597407930682, "mutual_information": 1.8994597407930682, "normalized_mutual_information": 0.7106925678371817, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 265, "delta_rotation_deg_xyz": [ 0.75, -1.0, 0.296875 ], "delta_translation_m_xyz": [ 0.05, -0.1, -0.11875 ], "objective": 1.8970750253625432, "mutual_information": 1.8970750253625432, "normalized_mutual_information": 0.7105993369650053, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.3072245203931884, "translation_m": 0.18874586088176873, "recovered": true }, "mi_seconds": 0.5816719019785523, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 3.0365201036793135, "translation_m": 0.2252701895790858, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4125006281654832, "archived_cost": 1006.4515375014878, "common_supported": 1397, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1107.869718068434, "supported_cost": 153.01734128396856, "signed_quantiles_m": [ -30.253212079478036, -2.5864462623832623, -0.09117936902260304, 0.1312482083376182, 29.68598833410929 ], "negative_fraction": 0.6781807714450202, "absolute_over_1m_fraction": 0.24122049510650548, "common_support_cost": 142.81150979601404 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1090.1495727096767, "supported_cost": 135.29719592521118, "signed_quantiles_m": [ -29.840711451312554, -2.173945634217779, 0.3213212591428802, 0.5437488365031015, 30.09848896227477 ], "negative_fraction": 0.31721358664363847, "absolute_over_1m_fraction": 0.20379965457685664, "common_support_cost": 123.96759084533437 }, "fit_zero": { "total": 12288, "supported": 1483, "cost": 1007.790812744273, "supported_cost": 29.951751882160483, "signed_quantiles_m": [ -21.221506305381602, 1.9192811538584713, 5.131242109902276, 20.44275136183631, 59.99559880694958 ], "negative_fraction": 0.02562373567093729, "absolute_over_1m_fraction": 0.9824679703304113, "common_support_cost": 26.817597764952055 }, "fit_fitted_bias": { "total": 12288, "supported": 1483, "cost": 1006.451537501488, "supported_cost": 28.612476639375522, "signed_quantiles_m": [ -20.80900567721612, 2.331781782023955, 5.543742738067759, 20.855251990001793, 60.40809943511506 ], "negative_fraction": 0.02157788267026298, "absolute_over_1m_fraction": 0.9797707349966285, "common_support_cost": 25.686194108223052 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.252756554574673, "translation_m": 0.8808187801573293, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4554162902488588, "archived_cost": 1015.4229863085741, "common_supported": 1689, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 144.8065510953649 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1089.8803654209319, "supported_cost": 135.02798863646626, "signed_quantiles_m": [ -31.233231474290278, -2.180075702691995, 0.3638329104480778, 0.5956102437506953, 30.439391800187632 ], "negative_fraction": 0.30397236614853196, "absolute_over_1m_fraction": 0.20610247553252733, "common_support_cost": 126.71249001262348 }, "fit_zero": { "total": 12288, "supported": 1950, "cost": 1017.8928715454355, "supported_cost": 82.31672983395754, "signed_quantiles_m": [ -64.0788160487972, 0.255497668509861, 1.8964007263844485, 12.152911762722116, 58.751360282267356 ], "negative_fraction": 0.045641025641025644, "absolute_over_1m_fraction": 0.6702564102564103, "common_support_cost": 72.33214868420774 }, "fit_fitted_bias": { "total": 12288, "supported": 1950, "cost": 1015.4229863085741, "supported_cost": 79.84684459709625, "signed_quantiles_m": [ -63.62339975854834, 0.7109139587587198, 2.3518170166333072, 12.608328052970975, 59.20677657251621 ], "negative_fraction": 0.04, "absolute_over_1m_fraction": 0.7994871794871795, "common_support_cost": 69.88159063428996 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.252756554574673, "translation_m": 0.8808187801573293, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1015.1226940708357, "common_supported": 1689, "states": { "reference_zero": { "total": 12288, "supported": 1737, "cost": 1109.5326687670595, "supported_cost": 154.68029198259407, "signed_quantiles_m": [ -31.688647764539137, -2.6354919929408536, -0.09158337980078102, 0.14019395350183644, 29.983975509938773 ], "negative_fraction": 0.666090961427749, "absolute_over_1m_fraction": 0.2406447898675878, "common_support_cost": 144.8065510953649 }, "reference_fitted_bias": { "total": 12288, "supported": 1737, "cost": 1088.259720804864, "supported_cost": 133.4073440203986, "signed_quantiles_m": [ -31.188648293467516, -2.135492521869232, 0.4084160912708405, 0.6401934245734581, 30.483974981010395 ], "negative_fraction": 0.29303396660909614, "absolute_over_1m_fraction": 0.20552677029360966, "common_support_cost": 125.21455773862228 }, "fit_zero": { "total": 12288, "supported": 1950, "cost": 1017.8928715454355, "supported_cost": 82.31672983395754, "signed_quantiles_m": [ -64.0788160487972, 0.255497668509861, 1.8964007263844485, 12.152911762722116, 58.751360282267356 ], "negative_fraction": 0.045641025641025644, "absolute_over_1m_fraction": 0.6702564102564103, "common_support_cost": 72.33214868420774 }, "fit_fitted_bias": { "total": 12288, "supported": 1950, "cost": 1015.1226940708357, "supported_cost": 79.54655235935779, "signed_quantiles_m": [ -63.578816577725576, 0.7554971395814826, 2.39640019745607, 12.652911233793738, 59.251359753338974 ], "negative_fraction": 0.03948717948717949, "absolute_over_1m_fraction": 0.8107692307692308, "common_support_cost": 69.62934788406264 } } } ] }, { "case_id": "2011_09_26_0013-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.1570524478595304, -0.12546671853346003, -0.2193869124058732 ], "rotation_quat_xyzw": [ -0.4970392806734143, 0.5065017108732196, -0.502029631017498, -0.4943422093353867 ] }, "transform_camera_lidar": { "translation_m": [ 0.2570524478595304, 0.07453328146653998, -0.2381369124058732 ], "rotation_quat_xyzw": [ 0.4973560377920636, -0.5002220471231225, 0.5039873640921962, 0.49840908105604603 ] }, "best_delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "best_delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5410505630618967, "normalized_mutual_information": 0.6195794042683838, "visible_point_count": 1565, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 1.6648457002386219, "normalized_mutual_information": 0.6152717269982366, "visible_point_count": 471, "projected_count_before_visibility": 601 }, { "frame_id": "frame-71", "mutual_information": 1.3091257601497577, "normalized_mutual_information": 0.5421760623439037, "visible_point_count": 528, "projected_count_before_visibility": 681 }, { "frame_id": "frame-107", "mutual_information": 1.6491802287973103, "normalized_mutual_information": 0.7012904234630108, "visible_point_count": 566, "projected_count_before_visibility": 681 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.8937652278526826, "normalized_mutual_information": 0.7540705769891813, "visible_point_count": 1394, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 2.03877631590731, "normalized_mutual_information": 0.7411086321454279, "visible_point_count": 428, "projected_count_before_visibility": 528 }, { "frame_id": "frame-71", "mutual_information": 1.648985701916744, "normalized_mutual_information": 0.6989771417515155, "visible_point_count": 462, "projected_count_before_visibility": 611 }, { "frame_id": "frame-107", "mutual_information": 1.9935336657339935, "normalized_mutual_information": 0.8221259570706008, "visible_point_count": 504, "projected_count_before_visibility": 602 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5410505630618967, "mutual_information": 1.5410505630618967, "normalized_mutual_information": 0.6195794042683838, "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": 1.6057435728930534, "mutual_information": 1.6057435728930534, "normalized_mutual_information": 0.6469698076315046, "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": 1.4618551202933094, "mutual_information": 1.4618551202933094, "normalized_mutual_information": 0.590955382211122, "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": 1.5311010687005229, "mutual_information": 1.5311010687005229, "normalized_mutual_information": 0.6191561906373947, "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": 1.535088090954722, "mutual_information": 1.535088090954722, "normalized_mutual_information": 0.6209927086100482, "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": 1.5498445675877546, "mutual_information": 1.5498445675877546, "normalized_mutual_information": 0.6212999676010593, "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": 1.5356169672214568, "mutual_information": 1.5356169672214568, "normalized_mutual_information": 0.6185171806329716, "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": 1.5189007872054205, "mutual_information": 1.5189007872054205, "normalized_mutual_information": 0.6124662292914946, "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": 1.5196112479623076, "mutual_information": 1.5196112479623076, "normalized_mutual_information": 0.6139777364462872, "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": 1.4582718259705054, "mutual_information": 1.4582718259705054, "normalized_mutual_information": 0.5878097604834746, "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": 1.6673651816646686, "mutual_information": 1.6673651816646686, "normalized_mutual_information": 0.6723822819432396, "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": 1.5640105760077614, "mutual_information": 1.5640105760077614, "normalized_mutual_information": 0.630749822365665, "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": 1.5392510772019534, "mutual_information": 1.5392510772019534, "normalized_mutual_information": 0.6197191187375278, "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": 1.73092270470218, "mutual_information": 1.73092270470218, "normalized_mutual_information": 0.6955799866239943, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6051803755323153, "mutual_information": 1.6051803755323153, "normalized_mutual_information": 0.6470573119262492, "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": 1.665939663103259, "mutual_information": 1.665939663103259, "normalized_mutual_information": 0.6701241052724437, "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": 1.6693351550299707, "mutual_information": 1.6693351550299707, "normalized_mutual_information": 0.6716429543029611, "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": 1.6376500556157358, "mutual_information": 1.6376500556157358, "normalized_mutual_information": 0.6603955700921558, "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": 1.6589594639955074, "mutual_information": 1.6589594639955074, "normalized_mutual_information": 0.6683276946503005, "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": 1.6545626139476308, "mutual_information": 1.6545626139476308, "normalized_mutual_information": 0.664493585628939, "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": 1.651838519130593, "mutual_information": 1.651838519130593, "normalized_mutual_information": 0.6644156988176128, "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": 1.5410505630618967, "mutual_information": 1.5410505630618967, "normalized_mutual_information": 0.6195794042683838, "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": 1.711972569020477, "mutual_information": 1.711972569020477, "normalized_mutual_information": 0.686632936548795, "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": 1.6772079652322311, "mutual_information": 1.6772079652322311, "normalized_mutual_information": 0.6766506525219106, "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": 1.6377094605710163, "mutual_information": 1.6377094605710163, "normalized_mutual_information": 0.6616515429660139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.731747354237833, "mutual_information": 1.731747354237833, "normalized_mutual_information": 0.6981770319805034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6673651816646686, "mutual_information": 1.6673651816646686, "normalized_mutual_information": 0.6723822819432396, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7126954599435684, "mutual_information": 1.7126954599435684, "normalized_mutual_information": 0.6911616127948471, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7120691557805747, "mutual_information": 1.7120691557805747, "normalized_mutual_information": 0.6904578123044267, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7113320103504366, "mutual_information": 1.7113320103504366, "normalized_mutual_information": 0.6891846142498999, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7064150912863116, "mutual_information": 1.7064150912863116, "normalized_mutual_information": 0.6875961638514657, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.1, 0.0 ], "objective": 1.6767868235472247, "mutual_information": 1.6767868235472247, "normalized_mutual_information": 0.6759589020459661, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.6884566708118138, "mutual_information": 1.6884566708118138, "normalized_mutual_information": 0.6802632147308142, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6057435728930534, "mutual_information": 1.6057435728930534, "normalized_mutual_information": 0.6469698076315046, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7474482847013515, "mutual_information": 1.7474482847013515, "normalized_mutual_information": 0.7013107021975492, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 36, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.7093826997827961, "mutual_information": 1.7093826997827961, "normalized_mutual_information": 0.685941532283901, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.1 ], "objective": 1.6962115306853383, "mutual_information": 1.6962115306853383, "normalized_mutual_information": 0.6855311756496865, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7523394946354667, "mutual_information": 1.7523394946354667, "normalized_mutual_information": 0.704481249280695, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.711972569020477, "mutual_information": 1.711972569020477, "normalized_mutual_information": 0.686632936548795, "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": 1.7398755875290248, "mutual_information": 1.7398755875290248, "normalized_mutual_information": 0.702726939611384, "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": 1.748184638741311, "mutual_information": 1.748184638741311, "normalized_mutual_information": 0.7039816514630219, "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": 1.7448643133707702, "mutual_information": 1.7448643133707702, "normalized_mutual_information": 0.700178200486746, "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": 1.7273291500797903, "mutual_information": 1.7273291500797903, "normalized_mutual_information": 0.6941436645145881, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7253749688121998, "mutual_information": 1.7253749688121998, "normalized_mutual_information": 0.6958193466781509, "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": 1.7441884699241055, "mutual_information": 1.7441884699241055, "normalized_mutual_information": 0.7031496983979307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.73092270470218, "mutual_information": 1.73092270470218, "normalized_mutual_information": 0.6955799866239943, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.737911973956378, "mutual_information": 1.737911973956378, "normalized_mutual_information": 0.6945025315799569, "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": 1.7412258296521061, "mutual_information": 1.7412258296521061, "normalized_mutual_information": 0.6988512569088048, "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": 1.7381440007925602, "mutual_information": 1.7381440007925602, "normalized_mutual_information": 0.7020160183424621, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.752912447452376, "mutual_information": 1.752912447452376, "normalized_mutual_information": 0.7064402504222148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7474482847013515, "mutual_information": 1.7474482847013515, "normalized_mutual_information": 0.7013107021975492, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ -0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7231171211011158, "mutual_information": 1.7231171211011158, "normalized_mutual_information": 0.6936209272742674, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7748593785545055, "mutual_information": 1.7748593785545055, "normalized_mutual_information": 0.7121855273075827, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 54, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.732786963463236, "mutual_information": 1.732786963463236, "normalized_mutual_information": 0.6968988474240572, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.761834497452079, "mutual_information": 1.761834497452079, "normalized_mutual_information": 0.7078131271351996, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.700135775295397, "mutual_information": 1.700135775295397, "normalized_mutual_information": 0.6852129002465414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7679166997529887, "mutual_information": 1.7679166997529887, "normalized_mutual_information": 0.7131206449908772, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.731747354237833, "mutual_information": 1.731747354237833, "normalized_mutual_information": 0.6981770319805034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7236968794571235, "mutual_information": 1.7236968794571235, "normalized_mutual_information": 0.6895530940878564, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7463899658263184, "mutual_information": 1.7463899658263184, "normalized_mutual_information": 0.7043791607675024, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7318283134437198, "mutual_information": 1.7318283134437198, "normalized_mutual_information": 0.6998240767712902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.8213050629244478, "mutual_information": 1.8213050629244478, "normalized_mutual_information": 0.7319394238489013, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 63, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.748184638741311, "mutual_information": 1.748184638741311, "normalized_mutual_information": 0.7039816514630219, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7523394946354667, "mutual_information": 1.7523394946354667, "normalized_mutual_information": 0.704481249280695, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ -0.5, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.795618693841009, "mutual_information": 1.795618693841009, "normalized_mutual_information": 0.7198107461251081, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7482403692493875, "mutual_information": 1.7482403692493875, "normalized_mutual_information": 0.7057942330216974, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7835547409582961, "mutual_information": 1.7835547409582961, "normalized_mutual_information": 0.7159821919373529, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7420163375743762, "mutual_information": 1.7420163375743762, "normalized_mutual_information": 0.696772765300088, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8015923274711956, "mutual_information": 1.8015923274711956, "normalized_mutual_information": 0.7239246920150254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7420825395101243, "mutual_information": 1.7420825395101243, "normalized_mutual_information": 0.7014801593260884, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7767315995282018, "mutual_information": 1.7767315995282018, "normalized_mutual_information": 0.7097217135715477, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.8014026578658673, "mutual_information": 1.8014026578658673, "normalized_mutual_information": 0.7215372359895585, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7717360529063402, "mutual_information": 1.7717360529063402, "normalized_mutual_information": 0.7122597903551847, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -1.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7349185788745076, "mutual_information": 1.7349185788745076, "normalized_mutual_information": 0.7014878291706418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7748593785545055, "mutual_information": 1.7748593785545055, "normalized_mutual_information": 0.7121855273075827, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ -0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.752912447452376, "mutual_information": 1.752912447452376, "normalized_mutual_information": 0.7064402504222148, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.824366718705683, "mutual_information": 1.824366718705683, "normalized_mutual_information": 0.7319037619880134, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.8085453762367234, "mutual_information": 1.8085453762367234, "normalized_mutual_information": 0.7250266509223623, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.8151732378177259, "mutual_information": 1.8151732378177259, "normalized_mutual_information": 0.7297258875944523, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7811830051993323, "mutual_information": 1.7811830051993323, "normalized_mutual_information": 0.7122155490066892, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8441376797973608, "mutual_information": 1.8441376797973608, "normalized_mutual_information": 0.7416081088794529, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 82, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7510351031745053, "mutual_information": 1.7510351031745053, "normalized_mutual_information": 0.7067403912279243, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7187764873372025, "mutual_information": 1.7187764873372025, "normalized_mutual_information": 0.6869458920035963, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.813807451829988, "mutual_information": 1.813807451829988, "normalized_mutual_information": 0.7258302683037973, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.8251274399434838, "mutual_information": 1.8251274399434838, "normalized_mutual_information": 0.7351171289313926, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -1.0, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7602649161142245, "mutual_information": 1.7602649161142245, "normalized_mutual_information": 0.7118001183797328, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8015923274711956, "mutual_information": 1.8015923274711956, "normalized_mutual_information": 0.7239246920150254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ -0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.813086095166992, "mutual_information": 1.813086095166992, "normalized_mutual_information": 0.7309681207051802, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8580874192993475, "mutual_information": 1.8580874192993475, "normalized_mutual_information": 0.7423290399218967, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 90, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8103413189885247, "mutual_information": 1.8103413189885247, "normalized_mutual_information": 0.7292823959934793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8558027302109068, "mutual_information": 1.8558027302109068, "normalized_mutual_information": 0.7455600703155015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.8213050629244478, "mutual_information": 1.8213050629244478, "normalized_mutual_information": 0.7319394238489013, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.2, 0.2, 0.0 ], "objective": 1.8464016656103126, "mutual_information": 1.8464016656103126, "normalized_mutual_information": 0.7370994268484532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.7719515207593437, "mutual_information": 1.7719515207593437, "normalized_mutual_information": 0.7136619476237939, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.750172467022287, "mutual_information": 1.750172467022287, "normalized_mutual_information": 0.7003983340134532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.1 ], "objective": 1.8338873770718243, "mutual_information": 1.8338873770718243, "normalized_mutual_information": 0.7331950437642849, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.1 ], "objective": 1.8316980600523596, "mutual_information": 1.8316980600523596, "normalized_mutual_information": 0.7362711116690542, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -1.0, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8059345646709257, "mutual_information": 1.8059345646709257, "normalized_mutual_information": 0.7242750714135884, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ -0.5, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.81755307069513, "mutual_information": 1.81755307069513, "normalized_mutual_information": 0.7263070439593933, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8441376797973608, "mutual_information": 1.8441376797973608, "normalized_mutual_information": 0.7416081088794529, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ -0.75, 0.75, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8633202432458518, "mutual_information": 1.8633202432458518, "normalized_mutual_information": 0.7422910950488469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ -0.75, 0.5, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8460468115532258, "mutual_information": 1.8460468115532258, "normalized_mutual_information": 0.7405741326239408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.882047426045542, "mutual_information": 1.882047426045542, "normalized_mutual_information": 0.7509205586692387, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 104, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.824366718705683, "mutual_information": 1.824366718705683, "normalized_mutual_information": 0.7319037619880134, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.2, 0.2, 0.0 ], "objective": 1.8192327741892047, "mutual_information": 1.8192327741892047, "normalized_mutual_information": 0.7253936879209065, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.7842367041334537, "mutual_information": 1.7842367041334537, "normalized_mutual_information": 0.7158912285771869, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7594112591530842, "mutual_information": 1.7594112591530842, "normalized_mutual_information": 0.7011119270481713, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.1 ], "objective": 1.8316763512623382, "mutual_information": 1.8316763512623382, "normalized_mutual_information": 0.7307261704736465, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.1 ], "objective": 1.8471942289821612, "mutual_information": 1.8471942289821612, "normalized_mutual_information": 0.7430305003280114, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -1.0, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8099020538251054, "mutual_information": 1.8099020538251054, "normalized_mutual_information": 0.7265549022323966, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ -0.5, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7932883198895244, "mutual_information": 1.7932883198895244, "normalized_mutual_information": 0.7162647799007428, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ -0.75, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8558027302109068, "mutual_information": 1.8558027302109068, "normalized_mutual_information": 0.7455600703155015, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ -0.75, 0.75, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8582964220743101, "mutual_information": 1.8582964220743101, "normalized_mutual_information": 0.738885878062756, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8580874192993475, "mutual_information": 1.8580874192993475, "normalized_mutual_information": 0.7423290399218967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.5 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8816016513516753, "mutual_information": 1.8816016513516753, "normalized_mutual_information": 0.7498401525207493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.8348378772143323, "mutual_information": 1.8348378772143323, "normalized_mutual_information": 0.7341867123267437, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.2, 0.2, 0.0 ], "objective": 1.8358054031102806, "mutual_information": 1.8358054031102806, "normalized_mutual_information": 0.7297186971315893, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.7858830190782715, "mutual_information": 1.7858830190782715, "normalized_mutual_information": 0.7184803850066995, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.788839661273619, "mutual_information": 1.788839661273619, "normalized_mutual_information": 0.7114813396931652, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.1 ], "objective": 1.8486083367928128, "mutual_information": 1.8486083367928128, "normalized_mutual_information": 0.7350448806882044, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.1 ], "objective": 1.8528616001632197, "mutual_information": 1.8528616001632197, "normalized_mutual_information": 0.7447127662587788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -0.875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8438158431146083, "mutual_information": 1.8438158431146083, "normalized_mutual_information": 0.7393015356024745, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ -0.625, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.845271724648871, "mutual_information": 1.845271724648871, "normalized_mutual_information": 0.7367339939737402, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ -0.75, 0.375, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8664949808244256, "mutual_information": 1.8664949808244256, "normalized_mutual_information": 0.7454972395254321, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ -0.75, 0.625, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8747388522167594, "mutual_information": 1.8747388522167594, "normalized_mutual_information": 0.7438062092618006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.125 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.859388375425829, "mutual_information": 1.859388375425829, "normalized_mutual_information": 0.7427845773129197, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.375 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8810327779640001, "mutual_information": 1.8810327779640001, "normalized_mutual_information": 0.7504002368873826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.05, 0.2, 0.0 ], "objective": 1.8466912417390968, "mutual_information": 1.8466912417390968, "normalized_mutual_information": 0.7412079319511619, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.2, 0.0 ], "objective": 1.8665250059151341, "mutual_information": 1.8665250059151341, "normalized_mutual_information": 0.7435276005631142, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.15000000000000002, 0.0 ], "objective": 1.829974590879429, "mutual_information": 1.829974590879429, "normalized_mutual_information": 0.7314241176141074, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.25, 0.0 ], "objective": 1.833708283134832, "mutual_information": 1.833708283134832, "normalized_mutual_information": 0.7285081476672876, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.05 ], "objective": 1.8609793216093593, "mutual_information": 1.8609793216093593, "normalized_mutual_information": 0.7434936889857525, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.05 ], "objective": 1.8565023774329756, "mutual_information": 1.8565023774329756, "normalized_mutual_information": 0.743837566229565, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -0.8125, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8626058828904448, "mutual_information": 1.8626058828904448, "normalized_mutual_information": 0.7444203930664708, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8829378966163144, "mutual_information": 1.8829378966163144, "normalized_mutual_information": 0.7505289371782289, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 136, "delta_rotation_deg_xyz": [ -0.75, 0.4375, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8595206974114078, "mutual_information": 1.8595206974114078, "normalized_mutual_information": 0.7451558446923205, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ -0.75, 0.5625, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8639030149589824, "mutual_information": 1.8639030149589824, "normalized_mutual_information": 0.7449792408904283, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.1875 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.87196974943334, "mutual_information": 1.87196974943334, "normalized_mutual_information": 0.7481614039813889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.88206346920904, "mutual_information": 1.88206346920904, "normalized_mutual_information": 0.7503568034584917, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.2, 0.0 ], "objective": 1.8597472137277702, "mutual_information": 1.8597472137277702, "normalized_mutual_information": 0.7457957575479637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.125, 0.2, 0.0 ], "objective": 1.8632943744962525, "mutual_information": 1.8632943744962525, "normalized_mutual_information": 0.7419190458269463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.17500000000000002, 0.0 ], "objective": 1.856013513266958, "mutual_information": 1.856013513266958, "normalized_mutual_information": 0.7402593135824254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.225, 0.0 ], "objective": 1.848725085257593, "mutual_information": 1.848725085257593, "normalized_mutual_information": 0.7353718692650624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8734059748511769, "mutual_information": 1.8734059748511769, "normalized_mutual_information": 0.7479258486630127, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.025 ], "objective": 1.872290151756955, "mutual_information": 1.872290151756955, "normalized_mutual_information": 0.750081892667723, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.882047426045542, "mutual_information": 1.882047426045542, "normalized_mutual_information": 0.7509205586692387, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ -0.625, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.845271724648871, "mutual_information": 1.845271724648871, "normalized_mutual_information": 0.7367339939737402, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ -0.6875, 0.4375, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8695713288679465, "mutual_information": 1.8695713288679465, "normalized_mutual_information": 0.7459805714624704, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ -0.6875, 0.5625, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8713660066775721, "mutual_information": 1.8713660066775721, "normalized_mutual_information": 0.7472241449865372, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.1875 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.877940645117218, "mutual_information": 1.877940645117218, "normalized_mutual_information": 0.7503994311166687, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8754418518047873, "mutual_information": 1.8754418518047873, "normalized_mutual_information": 0.7474961073241061, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.2, 0.0 ], "objective": 1.867805999095804, "mutual_information": 1.867805999095804, "normalized_mutual_information": 0.7479894194911431, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.125, 0.2, 0.0 ], "objective": 1.8799888703780088, "mutual_information": 1.8799888703780088, "normalized_mutual_information": 0.7484461320213586, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.17500000000000002, 0.0 ], "objective": 1.8271220021501913, "mutual_information": 1.8271220021501913, "normalized_mutual_information": 0.7313663090499892, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.225, 0.0 ], "objective": 1.8600075904752906, "mutual_information": 1.8600075904752906, "normalized_mutual_information": 0.7412104339774056, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8853425447945273, "mutual_information": 1.8853425447945273, "normalized_mutual_information": 0.7508490905251547, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 157, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.025 ], "objective": 1.869182331139356, "mutual_information": 1.869182331139356, "normalized_mutual_information": 0.7477477147985869, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8734059748511769, "mutual_information": 1.8734059748511769, "normalized_mutual_information": 0.7479258486630127, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ -0.625, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8531429967338633, "mutual_information": 1.8531429967338633, "normalized_mutual_information": 0.7411194053324314, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ -0.6875, 0.4375, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8764111462268733, "mutual_information": 1.8764111462268733, "normalized_mutual_information": 0.7486958643716289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ -0.6875, 0.5625, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8823559562223935, "mutual_information": 1.8823559562223935, "normalized_mutual_information": 0.7498034170652512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.1875 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8757748701859789, "mutual_information": 1.8757748701859789, "normalized_mutual_information": 0.74951048502049, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8865000849465539, "mutual_information": 1.8865000849465539, "normalized_mutual_information": 0.7513214597042809, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 164, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.2, -0.025 ], "objective": 1.876782651191269, "mutual_information": 1.876782651191269, "normalized_mutual_information": 0.7492487697248489, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.125, 0.2, -0.025 ], "objective": 1.8698121256962483, "mutual_information": 1.8698121256962483, "normalized_mutual_information": 0.7446217588479177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.17500000000000002, -0.025 ], "objective": 1.8383019490043602, "mutual_information": 1.8383019490043602, "normalized_mutual_information": 0.7364228032132996, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.225, -0.025 ], "objective": 1.8606138714402967, "mutual_information": 1.8606138714402967, "normalized_mutual_information": 0.7421601032954485, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.05 ], "objective": 1.872624866353955, "mutual_information": 1.872624866353955, "normalized_mutual_information": 0.7452537918408266, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8829378966163144, "mutual_information": 1.8829378966163144, "normalized_mutual_information": 0.7505289371782289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ -0.75, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8756082446046254, "mutual_information": 1.8756082446046254, "normalized_mutual_information": 0.7476232019063538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ -0.625, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8520803850441812, "mutual_information": 1.8520803850441812, "normalized_mutual_information": 0.7404658954337214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ -0.6875, 0.4375, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.881768081839133, "mutual_information": 1.881768081839133, "normalized_mutual_information": 0.7499255909915791, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ -0.6875, 0.5625, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8773181325357349, "mutual_information": 1.8773181325357349, "normalized_mutual_information": 0.7473380567774429, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8853425447945273, "mutual_information": 1.8853425447945273, "normalized_mutual_information": 0.7508490905251547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.375 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8790535071672467, "mutual_information": 1.8790535071672467, "normalized_mutual_information": 0.7508027910275609, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.07500000000000001, 0.2, -0.025 ], "objective": 1.870734795777939, "mutual_information": 1.870734795777939, "normalized_mutual_information": 0.7471306082551389, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.125, 0.2, -0.025 ], "objective": 1.8658942366424116, "mutual_information": 1.8658942366424116, "normalized_mutual_information": 0.7422386687163997, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.17500000000000002, -0.025 ], "objective": 1.844360827696784, "mutual_information": 1.844360827696784, "normalized_mutual_information": 0.7388135611531615, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.225, -0.025 ], "objective": 1.8594447701078523, "mutual_information": 1.8594447701078523, "normalized_mutual_information": 0.7401705937585422, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.05 ], "objective": 1.8707304634740007, "mutual_information": 1.8707304634740007, "normalized_mutual_information": 0.7447855823848205, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8754418518047873, "mutual_information": 1.8754418518047873, "normalized_mutual_information": 0.7474961073241061, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ -0.71875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8868111605379798, "mutual_information": 1.8868111605379798, "normalized_mutual_information": 0.7519058209983996, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ -0.65625, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8754810202531982, "mutual_information": 1.8754810202531982, "normalized_mutual_information": 0.7505413396633118, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ -0.6875, 0.46875, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.874070715992372, "mutual_information": 1.874070715992372, "normalized_mutual_information": 0.7473053130420948, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ -0.6875, 0.53125, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8705190974690051, "mutual_information": 1.8705190974690051, "normalized_mutual_information": 0.7452435998268586, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8879982073852517, "mutual_information": 1.8879982073852517, "normalized_mutual_information": 0.7517354737487727, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 187, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.34375 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8802393225343197, "mutual_information": 1.8802393225343197, "normalized_mutual_information": 0.7501319357146555, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.2, -0.025 ], "objective": 1.867674233124939, "mutual_information": 1.867674233124939, "normalized_mutual_information": 0.745904557348425, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1125, 0.2, -0.025 ], "objective": 1.8776221027817943, "mutual_information": 1.8776221027817943, "normalized_mutual_information": 0.7465074353193532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.1875, -0.025 ], "objective": 1.860119928425931, "mutual_information": 1.860119928425931, "normalized_mutual_information": 0.7447089808455001, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.21250000000000002, -0.025 ], "objective": 1.871344997645366, "mutual_information": 1.871344997645366, "normalized_mutual_information": 0.7462766057031341, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.037500000000000006 ], "objective": 1.8740680705898216, "mutual_information": 1.8740680705898216, "normalized_mutual_information": 0.7465674331102058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.0125 ], "objective": 1.8858055665054205, "mutual_information": 1.8858055665054205, "normalized_mutual_information": 0.7520588924711372, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ -0.71875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8878834338027557, "mutual_information": 1.8878834338027557, "normalized_mutual_information": 0.7531838947129583, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ -0.65625, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8726030547954349, "mutual_information": 1.8726030547954349, "normalized_mutual_information": 0.7508390442909617, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ -0.6875, 0.46875, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.878246002745039, "mutual_information": 1.878246002745039, "normalized_mutual_information": 0.7483404927241813, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ -0.6875, 0.53125, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8771784881613813, "mutual_information": 1.8771784881613813, "normalized_mutual_information": 0.7477711627616541, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8853425447945273, "mutual_information": 1.8853425447945273, "normalized_mutual_information": 0.7508490905251547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.3125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8865000849465539, "mutual_information": 1.8865000849465539, "normalized_mutual_information": 0.7513214597042809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.08750000000000001, 0.2, -0.025 ], "objective": 1.8728267647681778, "mutual_information": 1.8728267647681778, "normalized_mutual_information": 0.7474451134285515, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1125, 0.2, -0.025 ], "objective": 1.8803846360083945, "mutual_information": 1.8803846360083945, "normalized_mutual_information": 0.7476865091722334, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.1875, -0.025 ], "objective": 1.8710266762885415, "mutual_information": 1.8710266762885415, "normalized_mutual_information": 0.7472187401500269, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.21250000000000002, -0.025 ], "objective": 1.8684709120386949, "mutual_information": 1.8684709120386949, "normalized_mutual_information": 0.7456233112646816, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.037500000000000006 ], "objective": 1.87516274485058, "mutual_information": 1.87516274485058, "normalized_mutual_information": 0.7466180053389945, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.0125 ], "objective": 1.8836512721779404, "mutual_information": 1.8836512721779404, "normalized_mutual_information": 0.7516107591059477, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ -0.703125, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8876622127708178, "mutual_information": 1.8876622127708178, "normalized_mutual_information": 0.7519779835585488, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ -0.671875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.880240982869605, "mutual_information": 1.880240982869605, "normalized_mutual_information": 0.7508723456038412, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ -0.6875, 0.484375, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.883295108521881, "mutual_information": 1.883295108521881, "normalized_mutual_information": 0.7498635955983008, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ -0.6875, 0.515625, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8873484043299833, "mutual_information": 1.8873484043299833, "normalized_mutual_information": 0.7502063995407927, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8886860793462301, "mutual_information": 1.8886860793462301, "normalized_mutual_information": 0.7516101419597483, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 211, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.296875 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8883270436792923, "mutual_information": 1.8883270436792923, "normalized_mutual_information": 0.7522684025597517, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.09375, 0.2, -0.025 ], "objective": 1.8780892521132666, "mutual_information": 1.8780892521132666, "normalized_mutual_information": 0.7487683227732146, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.2, -0.025 ], "objective": 1.8832841165473757, "mutual_information": 1.8832841165473757, "normalized_mutual_information": 0.7489341791308428, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.19375, -0.025 ], "objective": 1.8821997929581231, "mutual_information": 1.8821997929581231, "normalized_mutual_information": 0.7512243867847724, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.20625000000000002, -0.025 ], "objective": 1.8780110794799068, "mutual_information": 1.8780110794799068, "normalized_mutual_information": 0.7478617665074667, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.03125 ], "objective": 1.8883174752095506, "mutual_information": 1.8883174752095506, "normalized_mutual_information": 0.7513392505313711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8861439346666415, "mutual_information": 1.8861439346666415, "normalized_mutual_information": 0.7515792355033634, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ -0.703125, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.885602256476212, "mutual_information": 1.885602256476212, "normalized_mutual_information": 0.7511702312610892, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ -0.671875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8802903943607834, "mutual_information": 1.8802903943607834, "normalized_mutual_information": 0.7512678120952335, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ -0.6875, 0.484375, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.88307411559103, "mutual_information": 1.88307411559103, "normalized_mutual_information": 0.7492674721144766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ -0.6875, 0.515625, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8870725994836874, "mutual_information": 1.8870725994836874, "normalized_mutual_information": 0.7497067697849301, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8853425447945273, "mutual_information": 1.8853425447945273, "normalized_mutual_information": 0.7508490905251547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8879982073852517, "mutual_information": 1.8879982073852517, "normalized_mutual_information": 0.7517354737487727, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.09375, 0.2, -0.025 ], "objective": 1.8818740023914178, "mutual_information": 1.8818740023914178, "normalized_mutual_information": 0.7498840013337683, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.2, -0.025 ], "objective": 1.8826050889549897, "mutual_information": 1.8826050889549897, "normalized_mutual_information": 0.7485760865248977, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.19375, -0.025 ], "objective": 1.87909326057028, "mutual_information": 1.87909326057028, "normalized_mutual_information": 0.7502723433236852, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.20625000000000002, -0.025 ], "objective": 1.877422068635865, "mutual_information": 1.877422068635865, "normalized_mutual_information": 0.7486153077465051, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.03125 ], "objective": 1.8871406592767972, "mutual_information": 1.8871406592767972, "normalized_mutual_information": 0.7510733675549895, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8894075298783506, "mutual_information": 1.8894075298783506, "normalized_mutual_information": 0.7529489991472076, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 230, "delta_rotation_deg_xyz": [ -0.703125, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8854079356756188, "mutual_information": 1.8854079356756188, "normalized_mutual_information": 0.7514688552792492, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ -0.671875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.875492046528338, "mutual_information": 1.875492046528338, "normalized_mutual_information": 0.7490684467109872, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ -0.6875, 0.484375, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8773556710264316, "mutual_information": 1.8773556710264316, "normalized_mutual_information": 0.7498101577741084, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 233, "delta_rotation_deg_xyz": [ -0.6875, 0.515625, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8851374068645006, "mutual_information": 1.8851374068645006, "normalized_mutual_information": 0.7505645190937632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8937652278526826, "mutual_information": 1.8937652278526826, "normalized_mutual_information": 0.7540705769891813, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 235, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.28125 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8861439346666415, "mutual_information": 1.8861439346666415, "normalized_mutual_information": 0.7515792355033634, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.09375, 0.2, -0.018750000000000003 ], "objective": 1.878052865539547, "mutual_information": 1.878052865539547, "normalized_mutual_information": 0.7498648430965846, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.2, -0.018750000000000003 ], "objective": 1.883280259616246, "mutual_information": 1.883280259616246, "normalized_mutual_information": 0.7499024026801834, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.19375, -0.018750000000000003 ], "objective": 1.8868728589278547, "mutual_information": 1.8868728589278547, "normalized_mutual_information": 0.7514867340274072, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.20625000000000002, -0.018750000000000003 ], "objective": 1.8865061164836838, "mutual_information": 1.8865061164836838, "normalized_mutual_information": 0.7518782769858299, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8886860793462301, "mutual_information": 1.8886860793462301, "normalized_mutual_information": 0.7516101419597483, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.012500000000000002 ], "objective": 1.8800429280091795, "mutual_information": 1.8800429280091795, "normalized_mutual_information": 0.7497679721076063, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 242, "delta_rotation_deg_xyz": [ -0.703125, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8891643951108221, "mutual_information": 1.8891643951108221, "normalized_mutual_information": 0.7534383987614004, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 243, "delta_rotation_deg_xyz": [ -0.671875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.883305646276404, "mutual_information": 1.883305646276404, "normalized_mutual_information": 0.7519868073066104, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 244, "delta_rotation_deg_xyz": [ -0.6875, 0.484375, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.880412341613468, "mutual_information": 1.880412341613468, "normalized_mutual_information": 0.7509861955470507, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 245, "delta_rotation_deg_xyz": [ -0.6875, 0.515625, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8883908868143007, "mutual_information": 1.8883908868143007, "normalized_mutual_information": 0.7519933133360107, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 246, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.234375 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.893507432370644, "mutual_information": 1.893507432370644, "normalized_mutual_information": 0.7543657239485486, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 247, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.265625 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.018750000000000003 ], "objective": 1.8894075298783506, "mutual_information": 1.8894075298783506, "normalized_mutual_information": 0.7529489991472076, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 248, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.09375, 0.2, -0.018750000000000003 ], "objective": 1.8816877968020254, "mutual_information": 1.8816877968020254, "normalized_mutual_information": 0.7511865758641765, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 249, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.10625000000000001, 0.2, -0.018750000000000003 ], "objective": 1.8861898303750986, "mutual_information": 1.8861898303750986, "normalized_mutual_information": 0.7510420419875706, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 250, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.19375, -0.018750000000000003 ], "objective": 1.8827542051771726, "mutual_information": 1.8827542051771726, "normalized_mutual_information": 0.7511922804250416, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 251, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.20625000000000002, -0.018750000000000003 ], "objective": 1.8811422132582791, "mutual_information": 1.8811422132582791, "normalized_mutual_information": 0.7499254699934239, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 252, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.025 ], "objective": 1.8853425447945273, "mutual_information": 1.8853425447945273, "normalized_mutual_information": 0.7508490905251547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 253, "delta_rotation_deg_xyz": [ -0.6875, 0.5, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.012500000000000002 ], "objective": 1.8840575037279195, "mutual_information": 1.8840575037279195, "normalized_mutual_information": 0.7511355721438625, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.9627983792933361, "translation_m": 0.25194555463432966, "recovered": false }, "mi_seconds": 0.6378742239903659, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.3386388408695816, "translation_m": 0.395557131226695, "recovered": false }, "archived_accepted": false, "fitted_bias_m": -0.13470113090198446, "archived_cost": 1045.634495708935, "common_supported": 1237, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.1425408470527, "supported_cost": 95.05906580636696, "signed_quantiles_m": [ -64.2279511632914, -1.177352750209421, -0.02871471867641784, 0.21861945068799596, 39.37557970232246 ], "negative_fraction": 0.5636492220650636, "absolute_over_1m_fraction": 0.15134370579915135, "common_support_cost": 75.4572133098506 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1088.3572622690522, "supported_cost": 104.27378722836613, "signed_quantiles_m": [ -64.36265229419338, -1.3120538811114055, -0.1634158495784023, 0.08391831978601148, 39.240878571420474 ], "negative_fraction": 0.842998585572843, "absolute_over_1m_fraction": 0.15983026874115983, "common_support_cost": 83.57186388947707 }, "fit_zero": { "total": 12288, "supported": 1385, "cost": 1044.8066841338418, "supported_cost": 58.09874516303088, "signed_quantiles_m": [ -50.19136542684341, 0.15879964205673042, 1.215877432766403, 4.008890304467266, 39.91480418321302 ], "negative_fraction": 0.07942238267148015, "absolute_over_1m_fraction": 0.6563176895306859, "common_support_cost": 47.89072765842862 }, "fit_fitted_bias": { "total": 12288, "supported": 1385, "cost": 1045.634495708935, "supported_cost": 58.92655673812406, "signed_quantiles_m": [ -50.3260665577454, 0.02409851115474595, 1.0811763018644185, 3.8741891735652807, 39.780103052311034 ], "negative_fraction": 0.09747292418772563, "absolute_over_1m_fraction": 0.5776173285198556, "common_support_cost": 48.42656535938001 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.6966553334078073, "translation_m": 0.6028436860165768, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.40196568098698504, "archived_cost": 1050.219339019709, "common_supported": 1294, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 84.8278433882239 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1072.8468546345816, "supported_cost": 88.76337959389579, "signed_quantiles_m": [ -63.82598548230441, -0.8508447451579072, 0.376872131708179, 0.6374920542028605, 39.777545383309445 ], "negative_fraction": 0.2050919377652051, "absolute_over_1m_fraction": 0.14356435643564355, "common_support_cost": 78.7103972637295 }, "fit_zero": { "total": 12288, "supported": 1665, "cost": 1065.1075043077403, "supported_cost": 103.73921707606775, "signed_quantiles_m": [ -69.69568567125091, -0.6559029183181898, -0.17024244457486404, 0.7563752128349535, 41.0918111163488 ], "negative_fraction": 0.7033033033033033, "absolute_over_1m_fraction": 0.15375375375375375, "common_support_cost": 75.26171682201903 }, "fit_fitted_bias": { "total": 12288, "supported": 1665, "cost": 1050.2193390197092, "supported_cost": 88.85105178803678, "signed_quantiles_m": [ -69.29371999026392, -0.25393723733120477, 0.231723236412121, 1.1583408938219386, 41.493776797335784 ], "negative_fraction": 0.16936936936936936, "absolute_over_1m_fraction": 0.16516516516516516, "common_support_cost": 63.83082438948729 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.6966553334078073, "translation_m": 0.6028436860165768, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.3393080794997347, "archived_cost": 1050.0902054686444, "common_supported": 1294, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 84.8278433882239 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1073.7148561604465, "supported_cost": 89.63138111976055, "signed_quantiles_m": [ -63.888643083791656, -0.9135023466451575, 0.31421453022092866, 0.5748344527156102, 39.7148877818222 ], "negative_fraction": 0.22913719943422914, "absolute_over_1m_fraction": 0.14285714285714285, "common_support_cost": 79.4851603925 }, "fit_zero": { "total": 12288, "supported": 1665, "cost": 1065.1075043077403, "supported_cost": 103.73921707606775, "signed_quantiles_m": [ -69.69568567125091, -0.6559029183181898, -0.17024244457486404, 0.7563752128349535, 41.0918111163488 ], "negative_fraction": 0.7033033033033033, "absolute_over_1m_fraction": 0.15375375375375375, "common_support_cost": 75.26171682201903 }, "fit_fitted_bias": { "total": 12288, "supported": 1665, "cost": 1050.0902054686444, "supported_cost": 88.7219182369717, "signed_quantiles_m": [ -69.35637759175118, -0.3165948388184551, 0.16906563492487064, 1.0956832923346882, 41.43111919584854 ], "negative_fraction": 0.21861861861861862, "absolute_over_1m_fraction": 0.15975975975975976, "common_support_cost": 63.85314684112075 } } } ] }, { "case_id": "2011_09_26_0013-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4947772517789984, -0.49996981832296017, 0.49991278639474485, 0.5052849274292378 ] }, "transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.3693869124058732 ], "rotation_quat_xyzw": [ 0.49586683836790474, -0.4988891928263134, 0.5010139565220418, 0.5041930852939748 ] }, "best_delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "best_delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.793499214754026, "normalized_mutual_information": 0.7214060479636656, "visible_point_count": 1465, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 1.9879418542301885, "normalized_mutual_information": 0.7274840278495145, "visible_point_count": 443, "projected_count_before_visibility": 552 }, { "frame_id": "frame-71", "mutual_information": 1.509406239517122, "normalized_mutual_information": 0.6500479036602903, "visible_point_count": 486, "projected_count_before_visibility": 640 }, { "frame_id": "frame-107", "mutual_information": 1.883149550514768, "normalized_mutual_information": 0.7866862123811923, "visible_point_count": 536, "projected_count_before_visibility": 633 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.854277010562181, "normalized_mutual_information": 0.7412761519228496, "visible_point_count": 1440, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 2.048373116279354, "normalized_mutual_information": 0.74799216291545, "visible_point_count": 439, "projected_count_before_visibility": 540 }, { "frame_id": "frame-71", "mutual_information": 1.570631129184858, "normalized_mutual_information": 0.6659123320516765, "visible_point_count": 480, "projected_count_before_visibility": 623 }, { "frame_id": "frame-107", "mutual_information": 1.9438267862223313, "normalized_mutual_information": 0.8099239608014225, "visible_point_count": 521, "projected_count_before_visibility": 619 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.793499214754026, "mutual_information": 1.793499214754026, "normalized_mutual_information": 0.7214060479636656, "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": 1.7446979541609668, "mutual_information": 1.7446979541609668, "normalized_mutual_information": 0.708896183105011, "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": 1.7599552492410417, "mutual_information": 1.7599552492410417, "normalized_mutual_information": 0.7076077021945447, "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": 1.7575912383974963, "mutual_information": 1.7575912383974963, "normalized_mutual_information": 0.7113037842526095, "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": 1.7747362980350416, "mutual_information": 1.7747362980350416, "normalized_mutual_information": 0.7176089097518846, "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": 1.7645832082157422, "mutual_information": 1.7645832082157422, "normalized_mutual_information": 0.7095927297211445, "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": 1.8217794652936654, "mutual_information": 1.8217794652936654, "normalized_mutual_information": 0.7324340176980161, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 8, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.7697540075115221, "mutual_information": 1.7697540075115221, "normalized_mutual_information": 0.7132644476739305, "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": 1.788239164903376, "mutual_information": 1.788239164903376, "normalized_mutual_information": 0.7202508663284721, "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": 1.7400492459953922, "mutual_information": 1.7400492459953922, "normalized_mutual_information": 0.7016799714005263, "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": 1.7853135649457113, "mutual_information": 1.7853135649457113, "normalized_mutual_information": 0.7210773298636449, "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": 1.8040035877426508, "mutual_information": 1.8040035877426508, "normalized_mutual_information": 0.7237799293504957, "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": 1.7747643979168173, "mutual_information": 1.7747643979168173, "normalized_mutual_information": 0.7194583170742641, "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": 1.78268607183444, "mutual_information": 1.78268607183444, "normalized_mutual_information": 0.7230944980320885, "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": 1.754887351641182, "mutual_information": 1.754887351641182, "normalized_mutual_information": 0.7046642882719908, "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": 1.8144220443979167, "mutual_information": 1.8144220443979167, "normalized_mutual_information": 0.7310356357718062, "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": 1.8163487757497647, "mutual_information": 1.8163487757497647, "normalized_mutual_information": 0.7317633157885285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.793499214754026, "mutual_information": 1.793499214754026, "normalized_mutual_information": 0.7214060479636656, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8169842837778927, "mutual_information": 1.8169842837778927, "normalized_mutual_information": 0.7312488701818305, "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": 1.8065740158432082, "mutual_information": 1.8065740158432082, "normalized_mutual_information": 0.7266675723926778, "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": 1.797867533561994, "mutual_information": 1.797867533561994, "normalized_mutual_information": 0.7238196890237029, "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": 1.7420748810120308, "mutual_information": 1.7420748810120308, "normalized_mutual_information": 0.7017368881669529, "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": 1.8200102411921166, "mutual_information": 1.8200102411921166, "normalized_mutual_information": 0.7332095382611135, "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": 1.854277010562181, "mutual_information": 1.854277010562181, "normalized_mutual_information": 0.7412761519228496, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.8176849297490467, "mutual_information": 1.8176849297490467, "normalized_mutual_information": 0.7333713234762378, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.808528969647785, "mutual_information": 1.808528969647785, "normalized_mutual_information": 0.7304690423508539, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7903067208231374, "mutual_information": 1.7903067208231374, "normalized_mutual_information": 0.7128238500117416, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7911541769838155, "mutual_information": 1.7911541769838155, "normalized_mutual_information": 0.721212763054324, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.0, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8359034537866499, "mutual_information": 1.8359034537866499, "normalized_mutual_information": 0.7375894430205264, "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, -0.1 ], "objective": 1.8040035877426508, "mutual_information": 1.8040035877426508, "normalized_mutual_information": 0.7237799293504957, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8332712164197416, "mutual_information": 1.8332712164197416, "normalized_mutual_information": 0.7343828727364374, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.1 ], "objective": 1.8345748522121959, "mutual_information": 1.8345748522121959, "normalized_mutual_information": 0.7359761084602411, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.1 ], "objective": 1.8233139429416247, "mutual_information": 1.8233139429416247, "normalized_mutual_information": 0.7303477361220984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7551507774901252, "mutual_information": 1.7551507774901252, "normalized_mutual_information": 0.7051522353968908, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.8012682780719285, "mutual_information": 1.8012682780719285, "normalized_mutual_information": 0.7224488368525783, "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, -0.2 ], "objective": 1.8450979677517887, "mutual_information": 1.8450979677517887, "normalized_mutual_information": 0.7351276183497407, "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, 0.0 ], "objective": 1.8217794652936654, "mutual_information": 1.8217794652936654, "normalized_mutual_information": 0.7324340176980161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.125, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.818328291334981, "mutual_information": 1.818328291334981, "normalized_mutual_information": 0.7334433212263599, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.815804840196474, "mutual_information": 1.815804840196474, "normalized_mutual_information": 0.7278013642298675, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.0, -0.125, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8252277026849997, "mutual_information": 1.8252277026849997, "normalized_mutual_information": 0.7316453126138697, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.0, 0.125, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.843476523968567, "mutual_information": 1.843476523968567, "normalized_mutual_information": 0.7413116609265235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.831796382111083, "mutual_information": 1.831796382111083, "normalized_mutual_information": 0.7327175839235821, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.375 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8232938278725783, "mutual_information": 1.8232938278725783, "normalized_mutual_information": 0.7305771364424544, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.1 ], "objective": 1.8245939559333735, "mutual_information": 1.8245939559333735, "normalized_mutual_information": 0.7301935316563126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.1 ], "objective": 1.823051036949422, "mutual_information": 1.823051036949422, "normalized_mutual_information": 0.7283076987890719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.1 ], "objective": 1.79645357241709, "mutual_information": 1.79645357241709, "normalized_mutual_information": 0.7197465868254028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.1 ], "objective": 1.8310379468048605, "mutual_information": 1.8310379468048605, "normalized_mutual_information": 0.7354072666387368, "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, -0.15000000000000002 ], "objective": 1.8353759780025183, "mutual_information": 1.8353759780025183, "normalized_mutual_information": 0.731905519878629, "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, -0.05 ], "objective": 1.8454341278190747, "mutual_information": 1.8454341278190747, "normalized_mutual_information": 0.7389936115979582, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.0625, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8208315620667221, "mutual_information": 1.8208315620667221, "normalized_mutual_information": 0.7304916596886879, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.0625, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8308799887476799, "mutual_information": 1.8308799887476799, "normalized_mutual_information": 0.7323317190562347, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.0, -0.0625, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8399278784290392, "mutual_information": 1.8399278784290392, "normalized_mutual_information": 0.7356431498286656, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.0, 0.0625, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8385106389910106, "mutual_information": 1.8385106389910106, "normalized_mutual_information": 0.736407891438128, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.1875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8424866117842382, "mutual_information": 1.8424866117842382, "normalized_mutual_information": 0.7364728746674282, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.3125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.834622080363874, "mutual_information": 1.834622080363874, "normalized_mutual_information": 0.7344694961286877, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.1 ], "objective": 1.8369906095073427, "mutual_information": 1.8369906095073427, "normalized_mutual_information": 0.7354993626945152, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.1 ], "objective": 1.8406422725752272, "mutual_information": 1.8406422725752272, "normalized_mutual_information": 0.7366517059414007, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.1 ], "objective": 1.8168991816855151, "mutual_information": 1.8168991816855151, "normalized_mutual_information": 0.727970235959476, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.1 ], "objective": 1.8376306655876593, "mutual_information": 1.8376306655876593, "normalized_mutual_information": 0.734594703591653, "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, -0.125 ], "objective": 1.846262842252563, "mutual_information": 1.846262842252563, "normalized_mutual_information": 0.7378526639337841, "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, -0.07500000000000001 ], "objective": 1.8482352058436806, "mutual_information": 1.8482352058436806, "normalized_mutual_information": 0.7399798710592793, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.03125, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.842151032881965, "mutual_information": 1.842151032881965, "normalized_mutual_information": 0.7371023528206705, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.03125, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8524162886690607, "mutual_information": 1.8524162886690607, "normalized_mutual_information": 0.7404447949907894, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.0, -0.03125, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8448566641782456, "mutual_information": 1.8448566641782456, "normalized_mutual_information": 0.7381960687516473, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.0, 0.03125, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8425393809702613, "mutual_information": 1.8425393809702613, "normalized_mutual_information": 0.7369174193231883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.21875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8472079963898385, "mutual_information": 1.8472079963898385, "normalized_mutual_information": 0.738927482484936, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.28125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8489676420913792, "mutual_information": 1.8489676420913792, "normalized_mutual_information": 0.7393712012950365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.1 ], "objective": 1.8415843125923026, "mutual_information": 1.8415843125923026, "normalized_mutual_information": 0.7369824816724059, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.1 ], "objective": 1.840734820973278, "mutual_information": 1.840734820973278, "normalized_mutual_information": 0.7366633343930381, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.1 ], "objective": 1.8394593162943103, "mutual_information": 1.8394593162943103, "normalized_mutual_information": 0.7358938582293382, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.1 ], "objective": 1.8352960715340725, "mutual_information": 1.8352960715340725, "normalized_mutual_information": 0.733068467285658, "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, -0.1125 ], "objective": 1.8481305329269802, "mutual_information": 1.8481305329269802, "normalized_mutual_information": 0.7387560837312761, "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, -0.08750000000000001 ], "objective": 1.8541203167141564, "mutual_information": 1.8541203167141564, "normalized_mutual_information": 0.7419343807327365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.015625, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8460219496602779, "mutual_information": 1.8460219496602779, "normalized_mutual_information": 0.737677471693321, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.015625, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8497709977563712, "mutual_information": 1.8497709977563712, "normalized_mutual_information": 0.740092509513246, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.0, -0.015625, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8507478481439616, "mutual_information": 1.8507478481439616, "normalized_mutual_information": 0.7401396355766862, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.0, 0.015625, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8456861521379244, "mutual_information": 1.8456861521379244, "normalized_mutual_information": 0.7387578431567562, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.234375 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8525396281106195, "mutual_information": 1.8525396281106195, "normalized_mutual_information": 0.7408135149585163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.265625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8490769087866603, "mutual_information": 1.8490769087866603, "normalized_mutual_information": 0.7392994231343405, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.1 ], "objective": 1.847440193530737, "mutual_information": 1.847440193530737, "normalized_mutual_information": 0.7388799690738269, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.1 ], "objective": 1.8499344960042086, "mutual_information": 1.8499344960042086, "normalized_mutual_information": 0.7397782151317426, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.1 ], "objective": 1.8493882264057422, "mutual_information": 1.8493882264057422, "normalized_mutual_information": 0.7390809334539529, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.1 ], "objective": 1.8353342056866901, "mutual_information": 1.8353342056866901, "normalized_mutual_information": 0.7337271174067913, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.10625000000000001 ], "objective": 1.8449049329815812, "mutual_information": 1.8449049329815812, "normalized_mutual_information": 0.7376778863900753, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.8524949748818351, "mutual_information": 1.8524949748818351, "normalized_mutual_information": 0.7409338476287733, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 85, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.2500000000000148, "translation_m": 0.09999999999999998, "recovered": true }, "mi_seconds": 0.1865196640137583, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.45777794371755925, "translation_m": 0.22115094301943378, "recovered": false }, "archived_accepted": true, "fitted_bias_m": -0.02973508813690486, "archived_cost": 1037.4157334554118, "common_supported": 1335, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.1425408470527, "supported_cost": 95.05906580636696, "signed_quantiles_m": [ -64.2279511632914, -1.177352750209421, -0.02871471867641784, 0.21861945068799596, 39.37557970232246 ], "negative_fraction": 0.5636492220650636, "absolute_over_1m_fraction": 0.15134370579915135, "common_support_cost": 75.38847058393506 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1080.5750174039863, "supported_cost": 96.4915423633004, "signed_quantiles_m": [ -64.2576862514283, -1.207087838346326, -0.058449806813322694, 0.1888843625510911, 39.34584461418556 ], "negative_fraction": 0.6414427157001414, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 76.74557001881065 }, "fit_zero": { "total": 12288, "supported": 1485, "cost": 1037.3496486578888, "supported_cost": 59.69158530819877, "signed_quantiles_m": [ -66.10216062133546, -0.21735585784977082, 0.12830672381865682, 1.5431478724413972, 40.57328353827977 ], "negative_fraction": 0.232996632996633, "absolute_over_1m_fraction": 0.18585858585858586, "common_support_cost": 49.05197187452664 }, "fit_fitted_bias": { "total": 12288, "supported": 1485, "cost": 1037.4157334554122, "supported_cost": 59.75767010572199, "signed_quantiles_m": [ -66.13189570947236, -0.2470909459866757, 0.09857163568175197, 1.5134127843044922, 40.543548450142865 ], "negative_fraction": 0.28888888888888886, "absolute_over_1m_fraction": 0.18316498316498317, "common_support_cost": 49.081994157396224 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.4807863787957814, "translation_m": 0.1438965192885004, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.13149802698170043, "archived_cost": 1042.7925294860454, "common_supported": 1336, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 80.46152490112745 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1076.352423918885, "supported_cost": 92.26894887819894, "signed_quantiles_m": [ -64.09645313630969, -1.1213123991631917, 0.1064044777028944, 0.3670244001975758, 39.507077729304164 ], "negative_fraction": 0.3465346534653465, "absolute_over_1m_fraction": 0.1471004243281471, "common_support_cost": 77.31193358234856 }, "fit_zero": { "total": 12288, "supported": 1468, "cost": 1047.3666420580585, "supported_cost": 68.17009985277767, "signed_quantiles_m": [ -65.0409319639165, -0.5038080072087391, -0.07281361449587465, 0.685302689257621, 40.750918680602595 ], "negative_fraction": 0.6512261580381471, "absolute_over_1m_fraction": 0.14645776566757493, "common_support_cost": 62.7341134089576 }, "fit_fitted_bias": { "total": 12288, "supported": 1468, "cost": 1042.7925294860456, "supported_cost": 63.59598728076491, "signed_quantiles_m": [ -64.9094339369348, -0.37230998022703865, 0.05868441248582579, 0.8168007162393214, 40.8824167075843 ], "negative_fraction": 0.34332425068119893, "absolute_over_1m_fraction": 0.14509536784741145, "common_support_cost": 58.589161705749575 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.4807863787957814, "translation_m": 0.1438965192885004, "recovered": true }, "archived_accepted": true, "fitted_bias_m": 0.17061474321914816, "archived_cost": 1042.6099805787721, "common_supported": 1336, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 80.46152490112745 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1075.8223348639715, "supported_cost": 91.73885982328555, "signed_quantiles_m": [ -64.05733642007225, -1.0821956829257442, 0.14552119394034213, 0.40614111643502354, 39.54619444554161 ], "negative_fraction": 0.31117397454031115, "absolute_over_1m_fraction": 0.1478076379066478, "common_support_cost": 76.83901785160842 }, "fit_zero": { "total": 12288, "supported": 1468, "cost": 1047.3666420580585, "supported_cost": 68.17009985277767, "signed_quantiles_m": [ -65.0409319639165, -0.5038080072087391, -0.07281361449587465, 0.685302689257621, 40.750918680602595 ], "negative_fraction": 0.6512261580381471, "absolute_over_1m_fraction": 0.14645776566757493, "common_support_cost": 62.7341134089576 }, "fit_fitted_bias": { "total": 12288, "supported": 1468, "cost": 1042.6099805787721, "supported_cost": 63.4134383734914, "signed_quantiles_m": [ -64.87031722069736, -0.3331932639895909, 0.09780112872327351, 0.8559174324767691, 40.92153342382174 ], "negative_fraction": 0.26498637602179836, "absolute_over_1m_fraction": 0.14918256130790192, "common_support_cost": 58.39434567599676 } } } ] }, { "case_id": "2011_09_26_0013-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.4925831399386632, -0.49327649462345813, 0.4977114921133187, 0.5160653260184167 ] }, "transform_camera_lidar": { "translation_m": [ -0.1429475521404696, -0.11296671853346002, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.5005475329125381, -0.48996315803109547, 0.5021531952390481, 0.507178902931285 ] }, "best_delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "best_delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.4846604759204887, "normalized_mutual_information": 0.6163645971268122, "visible_point_count": 1345, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 1.529161973798284, "normalized_mutual_information": 0.5807527693077326, "visible_point_count": 414, "projected_count_before_visibility": 513 }, { "frame_id": "frame-71", "mutual_information": 1.2767948289540199, "normalized_mutual_information": 0.565845029111178, "visible_point_count": 443, "projected_count_before_visibility": 591 }, { "frame_id": "frame-107", "mutual_information": 1.6480246250091626, "normalized_mutual_information": 0.7024959929615262, "visible_point_count": 488, "projected_count_before_visibility": 589 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.866391269639965, "normalized_mutual_information": 0.7545334729518891, "visible_point_count": 1441, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-35", "mutual_information": 1.9587285379767727, "normalized_mutual_information": 0.726844000788643, "visible_point_count": 432, "projected_count_before_visibility": 547 }, { "frame_id": "frame-71", "mutual_information": 1.6190922008659694, "normalized_mutual_information": 0.691299509961229, "visible_point_count": 481, "projected_count_before_visibility": 623 }, { "frame_id": "frame-107", "mutual_information": 2.0213530700771525, "normalized_mutual_information": 0.8454569081057953, "visible_point_count": 528, "projected_count_before_visibility": 628 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4846604759204887, "mutual_information": 1.4846604759204887, "normalized_mutual_information": 0.6163645971268122, "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": 1.415246712788466, "mutual_information": 1.415246712788466, "normalized_mutual_information": 0.5914281116088742, "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": 1.5518341607875783, "mutual_information": 1.5518341607875783, "normalized_mutual_information": 0.6389684497681231, "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": 1.4886983658762603, "mutual_information": 1.4886983658762603, "normalized_mutual_information": 0.621555372081551, "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": 1.4820471269980047, "mutual_information": 1.4820471269980047, "normalized_mutual_information": 0.6137699580598198, "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": 1.4562368239828334, "mutual_information": 1.4562368239828334, "normalized_mutual_information": 0.6055560299940627, "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": 1.5000089092226119, "mutual_information": 1.5000089092226119, "normalized_mutual_information": 0.621414457674008, "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": 1.4962886497259416, "mutual_information": 1.4962886497259416, "normalized_mutual_information": 0.6221753543080014, "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": 1.480549051531099, "mutual_information": 1.480549051531099, "normalized_mutual_information": 0.6139974508279281, "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": 1.5586198197000547, "mutual_information": 1.5586198197000547, "normalized_mutual_information": 0.6496568257434255, "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": 1.419361063722852, "mutual_information": 1.419361063722852, "normalized_mutual_information": 0.591133451107629, "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": 1.482363916827773, "mutual_information": 1.482363916827773, "normalized_mutual_information": 0.6114059891010455, "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": 1.4974135293758122, "mutual_information": 1.4974135293758122, "normalized_mutual_information": 0.6270403334915963, "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": 1.5040496000117844, "mutual_information": 1.5040496000117844, "normalized_mutual_information": 0.6296392508746386, "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": 1.6695552174581938, "mutual_information": 1.6695552174581938, "normalized_mutual_information": 0.6892898099520698, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5647825692704078, "mutual_information": 1.5647825692704078, "normalized_mutual_information": 0.6527310178873877, "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": 1.5615040937116138, "mutual_information": 1.5615040937116138, "normalized_mutual_information": 0.6495331125777725, "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": 1.5366677057675646, "mutual_information": 1.5366677057675646, "normalized_mutual_information": 0.63874488975193, "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": 1.6006025359454192, "mutual_information": 1.6006025359454192, "normalized_mutual_information": 0.6649361023095266, "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": 1.5679102302582428, "mutual_information": 1.5679102302582428, "normalized_mutual_information": 0.6561181454257277, "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": 1.569560595142671, "mutual_information": 1.569560595142671, "normalized_mutual_information": 0.6485033644434187, "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": 1.6573702631348943, "mutual_information": 1.6573702631348943, "normalized_mutual_information": 0.6900961637851054, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.4846604759204887, "mutual_information": 1.4846604759204887, "normalized_mutual_information": 0.6163645971268122, "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": 1.5474943280344078, "mutual_information": 1.5474943280344078, "normalized_mutual_information": 0.6398602328944177, "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": 1.559549773209322, "mutual_information": 1.559549773209322, "normalized_mutual_information": 0.6524235235012515, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5586198197000547, "mutual_information": 1.5586198197000547, "normalized_mutual_information": 0.6496568257434255, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6914205592366198, "mutual_information": 1.6914205592366198, "normalized_mutual_information": 0.6924783309559005, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6312411015692867, "mutual_information": 1.6312411015692867, "normalized_mutual_information": 0.6758389056583652, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6610114055268463, "mutual_information": 1.6610114055268463, "normalized_mutual_information": 0.6866988409957733, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6146379192969214, "mutual_information": 1.6146379192969214, "normalized_mutual_information": 0.669665868962523, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6884398733738433, "mutual_information": 1.6884398733738433, "normalized_mutual_information": 0.6955659800605097, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.6617127907323919, "mutual_information": 1.6617127907323919, "normalized_mutual_information": 0.6864751126786727, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.6630001018366631, "mutual_information": 1.6630001018366631, "normalized_mutual_information": 0.6845664521293866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6448616214104668, "mutual_information": 1.6448616214104668, "normalized_mutual_information": 0.6789286902917252, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5518341607875783, "mutual_information": 1.5518341607875783, "normalized_mutual_information": 0.6389684497681231, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.648325456508159, "mutual_information": 1.648325456508159, "normalized_mutual_information": 0.6776080393151463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.6584627749419034, "mutual_information": 1.6584627749419034, "normalized_mutual_information": 0.6872411942887245, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6695552174581938, "mutual_information": 1.6695552174581938, "normalized_mutual_information": 0.6892898099520698, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.704230674120014, "mutual_information": 1.704230674120014, "normalized_mutual_information": 0.6933224677875675, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6944095538141752, "mutual_information": 1.6944095538141752, "normalized_mutual_information": 0.6971879458131548, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7212558871593533, "mutual_information": 1.7212558871593533, "normalized_mutual_information": 0.7034212455158168, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6638245811132428, "mutual_information": 1.6638245811132428, "normalized_mutual_information": 0.6826365256337228, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7280915329203854, "mutual_information": 1.7280915329203854, "normalized_mutual_information": 0.7080167916732831, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.6962576224099088, "mutual_information": 1.6962576224099088, "normalized_mutual_information": 0.6979033742998239, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.693407085940348, "mutual_information": 1.693407085940348, "normalized_mutual_information": 0.6915927919089229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.625588041714361, "mutual_information": 1.625588041714361, "normalized_mutual_information": 0.6695574631457423, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6205839530732955, "mutual_information": 1.6205839530732955, "normalized_mutual_information": 0.662870334617358, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7212412632320138, "mutual_information": 1.7212412632320138, "normalized_mutual_information": 0.7042812068974414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7071000057143848, "mutual_information": 1.7071000057143848, "normalized_mutual_information": 0.7024081672130089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6884398733738433, "mutual_information": 1.6884398733738433, "normalized_mutual_information": 0.6955659800605097, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7285993133813953, "mutual_information": 1.7285993133813953, "normalized_mutual_information": 0.7026879684251672, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7294518020009928, "mutual_information": 1.7294518020009928, "normalized_mutual_information": 0.7077077960132604, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7299434726127796, "mutual_information": 1.7299434726127796, "normalized_mutual_information": 0.7068271568903463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6914205592366198, "mutual_information": 1.6914205592366198, "normalized_mutual_information": 0.6924783309559005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7651629871826973, "mutual_information": 1.7651629871826973, "normalized_mutual_information": 0.7214131442818802, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7241767300845197, "mutual_information": 1.7241767300845197, "normalized_mutual_information": 0.7076807297509262, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7156854036612774, "mutual_information": 1.7156854036612774, "normalized_mutual_information": 0.7002553528481817, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6385455117859824, "mutual_information": 1.6385455117859824, "normalized_mutual_information": 0.6730693654380215, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.651243832125834, "mutual_information": 1.651243832125834, "normalized_mutual_information": 0.6724550581189671, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7558392961112557, "mutual_information": 1.7558392961112557, "normalized_mutual_information": 0.7151864059911807, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7289799103014136, "mutual_information": 1.7289799103014136, "normalized_mutual_information": 0.7102927979412108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7152403614631968, "mutual_information": 1.7152403614631968, "normalized_mutual_information": 0.7048103113372512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7415979515683666, "mutual_information": 1.7415979515683666, "normalized_mutual_information": 0.7097352889658448, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7540834326010852, "mutual_information": 1.7540834326010852, "normalized_mutual_information": 0.7173883678020777, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7542124130821215, "mutual_information": 1.7542124130821215, "normalized_mutual_information": 0.713873274374473, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7280915329203854, "mutual_information": 1.7280915329203854, "normalized_mutual_information": 0.7080167916732831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7894271381092839, "mutual_information": 1.7894271381092839, "normalized_mutual_information": 0.7328237389845254, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7718925890840762, "mutual_information": 1.7718925890840762, "normalized_mutual_information": 0.7241956116807423, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.730514838203768, "mutual_information": 1.730514838203768, "normalized_mutual_information": 0.7052789493539121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.6712963439787778, "mutual_information": 1.6712963439787778, "normalized_mutual_information": 0.6852464921838063, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6846280438713126, "mutual_information": 1.6846280438713126, "normalized_mutual_information": 0.6861947577005116, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7777772803820941, "mutual_information": 1.7777772803820941, "normalized_mutual_information": 0.7246784150782632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7564058522368249, "mutual_information": 1.7564058522368249, "normalized_mutual_information": 0.7206608364721402, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7306496570614947, "mutual_information": 1.7306496570614947, "normalized_mutual_information": 0.7108923056541236, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7772960049440536, "mutual_information": 1.7772960049440536, "normalized_mutual_information": 0.7227838379648253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7730457700899758, "mutual_information": 1.7730457700899758, "normalized_mutual_information": 0.7243714522760135, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7672049968931667, "mutual_information": 1.7672049968931667, "normalized_mutual_information": 0.7187823204199005, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7651629871826973, "mutual_information": 1.7651629871826973, "normalized_mutual_information": 0.7214131442818802, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7974930996426843, "mutual_information": 1.7974930996426843, "normalized_mutual_information": 0.7371612699968392, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7886045768359062, "mutual_information": 1.7886045768359062, "normalized_mutual_information": 0.7302024737081019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7518351169925364, "mutual_information": 1.7518351169925364, "normalized_mutual_information": 0.7145736970558391, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7100473081528609, "mutual_information": 1.7100473081528609, "normalized_mutual_information": 0.7008708164593532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.683983651648471, "mutual_information": 1.683983651648471, "normalized_mutual_information": 0.686657698962878, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7911696036206137, "mutual_information": 1.7911696036206137, "normalized_mutual_information": 0.7274555122030208, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7629048515027044, "mutual_information": 1.7629048515027044, "normalized_mutual_information": 0.724415813230829, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.25, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7305338403543316, "mutual_information": 1.7305338403543316, "normalized_mutual_information": 0.7083010209390562, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.75, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7762637091495848, "mutual_information": 1.7762637091495848, "normalized_mutual_information": 0.7206209298268904, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.5, -0.25, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7910294033949878, "mutual_information": 1.7910294033949878, "normalized_mutual_information": 0.7308859426805356, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.5, 0.25, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7695044323297615, "mutual_information": 1.7695044323297615, "normalized_mutual_information": 0.7213417134129436, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.75 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7894271381092839, "mutual_information": 1.7894271381092839, "normalized_mutual_information": 0.7328237389845254, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8200041936915607, "mutual_information": 1.8200041936915607, "normalized_mutual_information": 0.7409046546666392, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8018728781886821, "mutual_information": 1.8018728781886821, "normalized_mutual_information": 0.7383273464223027, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7596757927868414, "mutual_information": 1.7596757927868414, "normalized_mutual_information": 0.7183240261026119, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.7262362639832673, "mutual_information": 1.7262362639832673, "normalized_mutual_information": 0.7050311683374458, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6977883257888748, "mutual_information": 1.6977883257888748, "normalized_mutual_information": 0.6933342085888287, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.797350820630182, "mutual_information": 1.797350820630182, "normalized_mutual_information": 0.7315162229799212, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7781989272196166, "mutual_information": 1.7781989272196166, "normalized_mutual_information": 0.7298983848293353, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.25, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7361197035779385, "mutual_information": 1.7361197035779385, "normalized_mutual_information": 0.7128901032976357, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.75, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7838536924270167, "mutual_information": 1.7838536924270167, "normalized_mutual_information": 0.7236400241976635, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.5, -0.25, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7961992437462655, "mutual_information": 1.7961992437462655, "normalized_mutual_information": 0.7307384242214735, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.5, 0.25, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.779480810673056, "mutual_information": 1.779480810673056, "normalized_mutual_information": 0.7236300185262227, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7974930996426843, "mutual_information": 1.7974930996426843, "normalized_mutual_information": 0.7371612699968392, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.5 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8015269563715695, "mutual_information": 1.8015269563715695, "normalized_mutual_information": 0.7310484679525576, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8339808793682486, "mutual_information": 1.8339808793682486, "normalized_mutual_information": 0.7463174646765299, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.1, -0.1, 0.0 ], "objective": 1.7514565869962464, "mutual_information": 1.7514565869962464, "normalized_mutual_information": 0.711933298880608, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.2, 0.0 ], "objective": 1.734507109857039, "mutual_information": 1.734507109857039, "normalized_mutual_information": 0.704693524369118, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.711641553373225, "mutual_information": 1.711641553373225, "normalized_mutual_information": 0.6976407646967809, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.8243973831029312, "mutual_information": 1.8243973831029312, "normalized_mutual_information": 0.7393233503741796, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.1 ], "objective": 1.7856584354148641, "mutual_information": 1.7856584354148641, "normalized_mutual_information": 0.7309979066641853, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.25, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.7625490575335891, "mutual_information": 1.7625490575335891, "normalized_mutual_information": 0.7209346168991825, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.75, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8144364295849407, "mutual_information": 1.8144364295849407, "normalized_mutual_information": 0.7364193868824548, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.5, -0.25, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.808676192687786, "mutual_information": 1.808676192687786, "normalized_mutual_information": 0.7356221458723112, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.5, 0.25, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8147487459326246, "mutual_information": 1.8147487459326246, "normalized_mutual_information": 0.7410680038114007, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.0 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8018728781886821, "mutual_information": 1.8018728781886821, "normalized_mutual_information": 0.7383273464223027, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8323964452928798, "mutual_information": 1.8323964452928798, "normalized_mutual_information": 0.7445739152164673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.2, -0.1, 0.0 ], "objective": 1.7861770004486666, "mutual_information": 1.7861770004486666, "normalized_mutual_information": 0.7259697048831537, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.8200041936915607, "mutual_information": 1.8200041936915607, "normalized_mutual_information": 0.7409046546666392, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.2, 0.0 ], "objective": 1.7557181581005044, "mutual_information": 1.7557181581005044, "normalized_mutual_information": 0.7134992051415964, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.7342794444372973, "mutual_information": 1.7342794444372973, "normalized_mutual_information": 0.7072339940213928, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.1 ], "objective": 1.8099813524633948, "mutual_information": 1.8099813524633948, "normalized_mutual_information": 0.7371886207508752, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.1 ], "objective": 1.8098803506866912, "mutual_information": 1.8098803506866912, "normalized_mutual_information": 0.7390352304158303, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.375, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8047851400116024, "mutual_information": 1.8047851400116024, "normalized_mutual_information": 0.7358474609614601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.625, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.809006255688697, "mutual_information": 1.809006255688697, "normalized_mutual_information": 0.7359444779139013, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8338959429660984, "mutual_information": 1.8338959429660984, "normalized_mutual_information": 0.7464176608737955, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.5, 0.125, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8270216938121058, "mutual_information": 1.8270216938121058, "normalized_mutual_information": 0.7475823519893791, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.826611804323359, "mutual_information": 1.826611804323359, "normalized_mutual_information": 0.7458384685549216, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.838801696367961, "mutual_information": 1.838801696367961, "normalized_mutual_information": 0.7478551928310022, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.8041406644859201, "mutual_information": 1.8041406644859201, "normalized_mutual_information": 0.7350813337851969, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.8011952719545044, "mutual_information": 1.8011952719545044, "normalized_mutual_information": 0.7361546114430801, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.7847072263969348, "mutual_information": 1.7847072263969348, "normalized_mutual_information": 0.726375895581857, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.8057615754575063, "mutual_information": 1.8057615754575063, "normalized_mutual_information": 0.7349772803765049, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.8383815518512179, "mutual_information": 1.8383815518512179, "normalized_mutual_information": 0.7477546150776969, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.8140540644521772, "mutual_information": 1.8140540644521772, "normalized_mutual_information": 0.7405101385442895, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.375, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.815156433433626, "mutual_information": 1.815156433433626, "normalized_mutual_information": 0.7392628163737096, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.625, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.800212147272445, "mutual_information": 1.800212147272445, "normalized_mutual_information": 0.7336844507021488, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.848303286035201, "mutual_information": 1.848303286035201, "normalized_mutual_information": 0.7504903140094816, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.5, 0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8375791331578164, "mutual_information": 1.8375791331578164, "normalized_mutual_information": 0.7490432696768603, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8339808793682486, "mutual_information": 1.8339808793682486, "normalized_mutual_information": 0.7463174646765299, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8323964452928798, "mutual_information": 1.8323964452928798, "normalized_mutual_information": 0.7445739152164673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.8293792661148025, "mutual_information": 1.8293792661148025, "normalized_mutual_information": 0.7419884000932391, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.8042686826267849, "mutual_information": 1.8042686826267849, "normalized_mutual_information": 0.7360354689689249, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.7874318494890058, "mutual_information": 1.7874318494890058, "normalized_mutual_information": 0.7251911924619696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.7911083048208145, "mutual_information": 1.7911083048208145, "normalized_mutual_information": 0.7293512891914644, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.8253803834832942, "mutual_information": 1.8253803834832942, "normalized_mutual_information": 0.742115261248549, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.8338883387976372, "mutual_information": 1.8338883387976372, "normalized_mutual_information": 0.7472012391190294, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.375, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8317271428487671, "mutual_information": 1.8317271428487671, "normalized_mutual_information": 0.7455877020335623, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.625, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8179899664859842, "mutual_information": 1.8179899664859842, "normalized_mutual_information": 0.7406699973216372, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.5, -0.25, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8159043933411703, "mutual_information": 1.8159043933411703, "normalized_mutual_information": 0.7377200876883799, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.5, 0.0, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.838801696367961, "mutual_information": 1.838801696367961, "normalized_mutual_information": 0.7478551928310022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.25 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8338959429660984, "mutual_information": 1.8338959429660984, "normalized_mutual_information": 0.7464176608737955, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.5 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8372642598201334, "mutual_information": 1.8372642598201334, "normalized_mutual_information": 0.7461120147451495, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.15000000000000002, -0.1, 0.0 ], "objective": 1.8093495933981825, "mutual_information": 1.8093495933981825, "normalized_mutual_information": 0.7336872344986612, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.05, -0.1, 0.0 ], "objective": 1.846140922217366, "mutual_information": 1.846140922217366, "normalized_mutual_information": 0.7502633268864173, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.15000000000000002, 0.0 ], "objective": 1.7885542907124077, "mutual_information": 1.7885542907124077, "normalized_mutual_information": 0.7287218215956418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.05, 0.0 ], "objective": 1.8119702787034502, "mutual_information": 1.8119702787034502, "normalized_mutual_information": 0.7375655654382224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.05 ], "objective": 1.842012924992192, "mutual_information": 1.842012924992192, "normalized_mutual_information": 0.7461892761971359, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.05 ], "objective": 1.8031687083933512, "mutual_information": 1.8031687083933512, "normalized_mutual_information": 0.7324451863982232, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.4375, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.846228746310027, "mutual_information": 1.846228746310027, "normalized_mutual_information": 0.750307793569065, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.5625, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8347822225931, "mutual_information": 1.8347822225931, "normalized_mutual_information": 0.7459905750325574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.5, -0.1875, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8263419609038138, "mutual_information": 1.8263419609038138, "normalized_mutual_information": 0.7411627293449711, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.5, -0.0625, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.842609238134484, "mutual_information": 1.842609238134484, "normalized_mutual_information": 0.7489569664249164, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.3125 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8370087569337699, "mutual_information": 1.8370087569337699, "normalized_mutual_information": 0.7465714203645885, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.4375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8349016939021923, "mutual_information": 1.8349016939021923, "normalized_mutual_information": 0.7454062763919467, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.125, -0.1, 0.0 ], "objective": 1.821423223138586, "mutual_information": 1.821423223138586, "normalized_mutual_information": 0.7392128112537394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.07500000000000001, -0.1, 0.0 ], "objective": 1.8400828889962144, "mutual_information": 1.8400828889962144, "normalized_mutual_information": 0.7481390505567607, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.125, 0.0 ], "objective": 1.8180168553465776, "mutual_information": 1.8180168553465776, "normalized_mutual_information": 0.7398338549141975, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.07500000000000001, 0.0 ], "objective": 1.8456069306213607, "mutual_information": 1.8456069306213607, "normalized_mutual_information": 0.7488257049850643, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.025 ], "objective": 1.8425771306510483, "mutual_information": 1.8425771306510483, "normalized_mutual_information": 0.748179558978694, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.025 ], "objective": 1.825924760728629, "mutual_information": 1.825924760728629, "normalized_mutual_information": 0.7408803006521932, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.46875, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8427641527928769, "mutual_information": 1.8427641527928769, "normalized_mutual_information": 0.7481937437188103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8309072993320001, "mutual_information": 1.8309072993320001, "normalized_mutual_information": 0.7435281511293536, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.5, -0.15625, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8363239319016469, "mutual_information": 1.8363239319016469, "normalized_mutual_information": 0.7449654189929795, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.5, -0.09375, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8471371321373253, "mutual_information": 1.8471371321373253, "normalized_mutual_information": 0.749209150012426, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.34375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8385642456430666, "mutual_information": 1.8385642456430666, "normalized_mutual_information": 0.7471660032008085, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.838754743328506, "mutual_information": 1.838754743328506, "normalized_mutual_information": 0.7466974714172525, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1125, -0.1, 0.0 ], "objective": 1.8257239397540348, "mutual_information": 1.8257239397540348, "normalized_mutual_information": 0.74125408128016, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.1, 0.0 ], "objective": 1.842484717181731, "mutual_information": 1.842484717181731, "normalized_mutual_information": 0.748455284461889, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1125, 0.0 ], "objective": 1.8230292622588653, "mutual_information": 1.8230292622588653, "normalized_mutual_information": 0.7416864881267582, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8487191240643062, "mutual_information": 1.8487191240643062, "normalized_mutual_information": 0.7490796562765741, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, -0.0125 ], "objective": 1.8450706060046838, "mutual_information": 1.8450706060046838, "normalized_mutual_information": 0.7488485134709396, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0125 ], "objective": 1.8274134029923441, "mutual_information": 1.8274134029923441, "normalized_mutual_information": 0.7427253818286489, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ 0.46875, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8442054668572831, "mutual_information": 1.8442054668572831, "normalized_mutual_information": 0.7482971148342962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8585912175287806, "mutual_information": 1.8585912175287806, "normalized_mutual_information": 0.7526117510816275, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 184, "delta_rotation_deg_xyz": [ 0.5, -0.15625, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8386436878978747, "mutual_information": 1.8386436878978747, "normalized_mutual_information": 0.745034149675703, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ 0.5, -0.09375, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8446498055515048, "mutual_information": 1.8446498055515048, "normalized_mutual_information": 0.7465414275719365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.34375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8473173714752378, "mutual_information": 1.8473173714752378, "normalized_mutual_information": 0.7483530955208663, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8535197188630665, "mutual_information": 1.8535197188630665, "normalized_mutual_information": 0.7506607130209121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1125, -0.08750000000000001, 0.0 ], "objective": 1.833101104465758, "mutual_information": 1.833101104465758, "normalized_mutual_information": 0.7439733663057703, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.08750000000000001, 0.0 ], "objective": 1.8373932528282886, "mutual_information": 1.8373932528282886, "normalized_mutual_information": 0.7451698054886527, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.848303286035201, "mutual_information": 1.848303286035201, "normalized_mutual_information": 0.7504903140094816, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.07500000000000001, 0.0 ], "objective": 1.8456069306213607, "mutual_information": 1.8456069306213607, "normalized_mutual_information": 0.7488257049850643, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, -0.0125 ], "objective": 1.8432243716255963, "mutual_information": 1.8432243716255963, "normalized_mutual_information": 0.7465410645225025, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0125 ], "objective": 1.8443732745036578, "mutual_information": 1.8443732745036578, "normalized_mutual_information": 0.7478014595510828, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8487191240643062, "mutual_information": 1.8487191240643062, "normalized_mutual_information": 0.7490796562765741, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ 0.5625, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8582598056638455, "mutual_information": 1.8582598056638455, "normalized_mutual_information": 0.7542066946905995, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ 0.53125, -0.15625, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8440307620408818, "mutual_information": 1.8440307620408818, "normalized_mutual_information": 0.7466552009438915, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ 0.53125, -0.09375, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.856268455430935, "mutual_information": 1.856268455430935, "normalized_mutual_information": 0.7517352004696406, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.34375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.85468407059256, "mutual_information": 1.85468407059256, "normalized_mutual_information": 0.7516599112780881, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8625843111850362, "mutual_information": 1.8625843111850362, "normalized_mutual_information": 0.7540598334650044, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 200, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1125, -0.08750000000000001, 0.0 ], "objective": 1.8348610108501455, "mutual_information": 1.8348610108501455, "normalized_mutual_information": 0.7427424605193121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.08750000000000001, 0.0 ], "objective": 1.846590121773292, "mutual_information": 1.846590121773292, "normalized_mutual_information": 0.7487267454822542, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 202, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8309072993320001, "mutual_information": 1.8309072993320001, "normalized_mutual_information": 0.7435281511293536, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.07500000000000001, 0.0 ], "objective": 1.8466598527057485, "mutual_information": 1.8466598527057485, "normalized_mutual_information": 0.7482252069519738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, -0.0125 ], "objective": 1.855113549471039, "mutual_information": 1.855113549471039, "normalized_mutual_information": 0.7500804125020507, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0125 ], "objective": 1.8360114020148461, "mutual_information": 1.8360114020148461, "normalized_mutual_information": 0.7442127669689512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ 0.5, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8535197188630665, "mutual_information": 1.8535197188630665, "normalized_mutual_information": 0.7506607130209121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ 0.5625, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8396010541347376, "mutual_information": 1.8396010541347376, "normalized_mutual_information": 0.7469773564416545, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ 0.53125, -0.15625, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8445813420480965, "mutual_information": 1.8445813420480965, "normalized_mutual_information": 0.7472426513607702, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ 0.53125, -0.09375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8542760242189946, "mutual_information": 1.8542760242189946, "normalized_mutual_information": 0.7507814804139463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8585912175287806, "mutual_information": 1.8585912175287806, "normalized_mutual_information": 0.7526117510816275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.4375 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8496979183799134, "mutual_information": 1.8496979183799134, "normalized_mutual_information": 0.749742457446581, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1125, -0.08750000000000001, 0.0 ], "objective": 1.8362290731075124, "mutual_information": 1.8362290731075124, "normalized_mutual_information": 0.7443816019147498, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.08750000000000001, -0.08750000000000001, 0.0 ], "objective": 1.8482295745911757, "mutual_information": 1.8482295745911757, "normalized_mutual_information": 0.749180407690261, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.1, 0.0 ], "objective": 1.8373954882522776, "mutual_information": 1.8373954882522776, "normalized_mutual_information": 0.7463327082478196, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.07500000000000001, 0.0 ], "objective": 1.8459055364054417, "mutual_information": 1.8459055364054417, "normalized_mutual_information": 0.7487205187800089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, -0.0125 ], "objective": 1.8574348661271436, "mutual_information": 1.8574348661271436, "normalized_mutual_information": 0.7511547116958314, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0125 ], "objective": 1.8425442654845288, "mutual_information": 1.8425442654845288, "normalized_mutual_information": 0.7465522007680314, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ 0.515625, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8540644635198544, "mutual_information": 1.8540644635198544, "normalized_mutual_information": 0.7514754814796566, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ 0.546875, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.856354117282758, "mutual_information": 1.856354117282758, "normalized_mutual_information": 0.7524100588676693, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ 0.53125, -0.140625, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8489502357911416, "mutual_information": 1.8489502357911416, "normalized_mutual_information": 0.7493516614480117, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.866391269639965, "mutual_information": 1.866391269639965, "normalized_mutual_information": 0.7545334729518891, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 222, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.390625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.857989387154448, "mutual_information": 1.857989387154448, "normalized_mutual_information": 0.7527973613583329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.421875 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8603746859872274, "mutual_information": 1.8603746859872274, "normalized_mutual_information": 0.7539465682752574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 224, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.08750000000000001, 0.0 ], "objective": 1.8415633776092506, "mutual_information": 1.8415633776092506, "normalized_mutual_information": 0.7460228664458777, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.09375, -0.08750000000000001, 0.0 ], "objective": 1.858137808390536, "mutual_information": 1.858137808390536, "normalized_mutual_information": 0.7517817165718639, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.09375000000000001, 0.0 ], "objective": 1.8429648960539406, "mutual_information": 1.8429648960539406, "normalized_mutual_information": 0.7480728484765914, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08125, 0.0 ], "objective": 1.8547468907208398, "mutual_information": 1.8547468907208398, "normalized_mutual_information": 0.7506257703447501, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, -0.00625 ], "objective": 1.8644071946311798, "mutual_information": 1.8644071946311798, "normalized_mutual_information": 0.7538765391456138, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.00625 ], "objective": 1.848071672374303, "mutual_information": 1.848071672374303, "normalized_mutual_information": 0.7488182181942533, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 230, "delta_rotation_deg_xyz": [ 0.515625, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8556967082319773, "mutual_information": 1.8556967082319773, "normalized_mutual_information": 0.7507081220748345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ 0.546875, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8583516905470117, "mutual_information": 1.8583516905470117, "normalized_mutual_information": 0.7519385253328585, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ 0.53125, -0.125, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8625843111850362, "mutual_information": 1.8625843111850362, "normalized_mutual_information": 0.7540598334650044, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 233, "delta_rotation_deg_xyz": [ 0.53125, -0.09375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8542760242189946, "mutual_information": 1.8542760242189946, "normalized_mutual_information": 0.7507814804139463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.390625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.855787315384686, "mutual_information": 1.855787315384686, "normalized_mutual_information": 0.7507056702481547, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 235, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.421875 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.0 ], "objective": 1.8640483379836283, "mutual_information": 1.8640483379836283, "normalized_mutual_information": 0.7540419334247112, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.10625000000000001, -0.08750000000000001, 0.0 ], "objective": 1.8584485809849063, "mutual_information": 1.8584485809849063, "normalized_mutual_information": 0.7521439501918339, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.09375, -0.08750000000000001, 0.0 ], "objective": 1.8551492538625987, "mutual_information": 1.8551492538625987, "normalized_mutual_information": 0.7506317246057298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.09375000000000001, 0.0 ], "objective": 1.8472476062612755, "mutual_information": 1.8472476062612755, "normalized_mutual_information": 0.7487113571937125, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08125, 0.0 ], "objective": 1.8576509504037517, "mutual_information": 1.8576509504037517, "normalized_mutual_information": 0.7508083112046883, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, -0.00625 ], "objective": 1.8613453952123706, "mutual_information": 1.8613453952123706, "normalized_mutual_information": 0.7528188208401897, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ 0.53125, -0.109375, 1.40625 ], "delta_translation_m_xyz": [ -0.1, -0.08750000000000001, 0.00625 ], "objective": 1.8577476018181311, "mutual_information": 1.8577476018181311, "normalized_mutual_information": 0.7518008554341263, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 241, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 1.3656970408892959, "translation_m": 0.20953818267800264, "recovered": false }, "mi_seconds": 0.5064607690146659, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.846836660565974, "translation_m": 0.15174110607116828, "recovered": false }, "archived_accepted": false, "fitted_bias_m": 0.0986024754812803, "archived_cost": 1025.6323335034706, "common_supported": 1108, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.1425408470527, "supported_cost": 95.05906580636696, "signed_quantiles_m": [ -64.2279511632914, -1.177352750209421, -0.02871471867641784, 0.21861945068799596, 39.37557970232246 ], "negative_fraction": 0.5636492220650636, "absolute_over_1m_fraction": 0.15134370579915135, "common_support_cost": 74.85943472131575 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1076.3433734032947, "supported_cost": 92.25989836260857, "signed_quantiles_m": [ -64.12934868781011, -1.0787502747281408, 0.06988775680486246, 0.31722192616927625, 39.47418217780374 ], "negative_fraction": 0.38330975954738333, "absolute_over_1m_fraction": 0.1456859971711457, "common_support_cost": 71.71165542078424 }, "fit_zero": { "total": 12288, "supported": 1230, "cost": 1026.0650170527963, "supported_cost": 25.32977086924801, "signed_quantiles_m": [ -44.0250272340855, -0.0721888076475527, 3.0157170971804694, 15.293557989875831, 55.27324662453013 ], "negative_fraction": 0.13658536585365855, "absolute_over_1m_fraction": 0.7447154471544716, "common_support_cost": 22.381696050496146 }, "fit_fitted_bias": { "total": 12288, "supported": 1230, "cost": 1025.6323335034708, "supported_cost": 24.89708731992239, "signed_quantiles_m": [ -43.92642475860422, 0.026413667833727606, 3.1143195726617496, 15.392160465357112, 55.37184910001141 ], "negative_fraction": 0.08455284552845528, "absolute_over_1m_fraction": 0.748780487804878, "common_support_cost": 21.991117579095928 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.2712081645301, "translation_m": 0.23756956663511242, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.12356238446792296, "archived_cost": 1037.040323287921, "common_supported": 1202, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 74.32118411853189 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1076.4717340486561, "supported_cost": 92.38825900797022, "signed_quantiles_m": [ -64.10438877882348, -1.1292480416769692, 0.09846883518911694, 0.35908875768379833, 39.499142086790386 ], "negative_fraction": 0.3521923620933522, "absolute_over_1m_fraction": 0.1463932107496464, "common_support_cost": 71.31560982009032 }, "fit_zero": { "total": 12288, "supported": 1349, "cost": 1037.8684752159302, "supported_cost": 47.90258102151557, "signed_quantiles_m": [ -37.198001554828764, -0.09026752210718207, 1.2614893570847823, 8.869286326318448, 54.541705515127674 ], "negative_fraction": 0.14084507042253522, "absolute_over_1m_fraction": 0.6019273535952557, "common_support_cost": 40.62014730510301 }, "fit_fitted_bias": { "total": 12288, "supported": 1349, "cost": 1037.0403232879212, "supported_cost": 47.074429093506645, "signed_quantiles_m": [ -37.07443917036084, 0.03329486236074089, 1.3850517415527053, 8.99284871078637, 54.6652678995956 ], "negative_fraction": 0.08598962194217939, "absolute_over_1m_fraction": 0.6382505559673832, "common_support_cost": 40.05435528378233 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 2.2712081645301, "translation_m": 0.23756956663511242, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.49999950580767555, "archived_cost": 1035.8503610911202, "common_supported": 1202, "states": { "reference_zero": { "total": 12288, "supported": 1414, "cost": 1079.6909008895566, "supported_cost": 95.60742584887069, "signed_quantiles_m": [ -64.2279511632914, -1.2528104261448922, -0.025093549278806027, 0.23552637321587538, 39.37557970232246 ], "negative_fraction": 0.557991513437058, "absolute_over_1m_fraction": 0.15205091937765206, "common_support_cost": 74.32118411853189 }, "reference_fitted_bias": { "total": 12288, "supported": 1414, "cost": 1071.4090532061837, "supported_cost": 87.32557816549792, "signed_quantiles_m": [ -63.72795165748372, -0.7528109203372166, 0.4749059565288695, 0.735525879023551, 39.875579208130134 ], "negative_fraction": 0.18387553041018387, "absolute_over_1m_fraction": 0.1471004243281471, "common_support_cost": 66.75503291635748 }, "fit_zero": { "total": 12288, "supported": 1349, "cost": 1037.8684752159302, "supported_cost": 47.90258102151557, "signed_quantiles_m": [ -37.198001554828764, -0.09026752210718207, 1.2614893570847823, 8.869286326318448, 54.541705515127674 ], "negative_fraction": 0.14084507042253522, "absolute_over_1m_fraction": 0.6019273535952557, "common_support_cost": 40.62014730510301 }, "fit_fitted_bias": { "total": 12288, "supported": 1349, "cost": 1035.8503610911202, "supported_cost": 45.88446689670582, "signed_quantiles_m": [ -36.69800204902109, 0.40973198370049346, 1.7614888628924579, 9.369285832126124, 55.041705020935346 ], "negative_fraction": 0.0452186805040771, "absolute_over_1m_fraction": 0.782060785767235, "common_support_cost": 39.269032294602056 } } } ] }, { "case_id": "2011_09_26_0015-positive", "start": "positive", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.1570524478595304, -0.12546671853346003, -0.2193869124058732 ], "rotation_quat_xyzw": [ -0.4970392806734143, 0.5065017108732196, -0.502029631017498, -0.4943422093353867 ] }, "transform_camera_lidar": { "translation_m": [ 0.3195524478595304, 0.17453328146654, -0.2193869124058732 ], "rotation_quat_xyzw": [ 0.49186623929067547, -0.5056249871274662, 0.5008437681333509, 0.5015640487120102 ] }, "best_delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "best_delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5824109366296106, "normalized_mutual_information": 0.5665576274668167, "visible_point_count": 1600, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.6209580003071071, "normalized_mutual_information": 0.5766401700629175, "visible_point_count": 552, "projected_count_before_visibility": 682 }, { "frame_id": "frame-148", "mutual_information": 1.507779880127011, "normalized_mutual_information": 0.5521543781040427, "visible_point_count": 529, "projected_count_before_visibility": 683 }, { "frame_id": "frame-222", "mutual_information": 1.6184949294547142, "normalized_mutual_information": 0.5708783342334901, "visible_point_count": 519, "projected_count_before_visibility": 624 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.828381646452204, "normalized_mutual_information": 0.6579372153991859, "visible_point_count": 1403, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.8358538690105735, "normalized_mutual_information": 0.6609350214136439, "visible_point_count": 476, "projected_count_before_visibility": 585 }, { "frame_id": "frame-148", "mutual_information": 1.7553816087941994, "normalized_mutual_information": 0.6460667034349062, "visible_point_count": 470, "projected_count_before_visibility": 584 }, { "frame_id": "frame-222", "mutual_information": 1.8939094615518393, "normalized_mutual_information": 0.6668099213490074, "visible_point_count": 457, "projected_count_before_visibility": 542 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5824109366296106, "mutual_information": 1.5824109366296106, "normalized_mutual_information": 0.5665576274668167, "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": 1.608228359757015, "mutual_information": 1.608228359757015, "normalized_mutual_information": 0.579735875475139, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 3, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.56714689771326, "mutual_information": 1.56714689771326, "normalized_mutual_information": 0.5632343530275631, "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": 1.577391415844377, "mutual_information": 1.577391415844377, "normalized_mutual_information": 0.5673332619458106, "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": 1.5837044582775086, "mutual_information": 1.5837044582775086, "normalized_mutual_information": 0.5677029613613627, "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": 1.5747932841617367, "mutual_information": 1.5747932841617367, "normalized_mutual_information": 0.565652982533535, "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": 1.5514060343366403, "mutual_information": 1.5514060343366403, "normalized_mutual_information": 0.5583888322095019, "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": 1.5822756908759554, "mutual_information": 1.5822756908759554, "normalized_mutual_information": 0.5690393342307951, "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": 1.5951043243997953, "mutual_information": 1.5951043243997953, "normalized_mutual_information": 0.5721172686539963, "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": 1.5518177635183246, "mutual_information": 1.5518177635183246, "normalized_mutual_information": 0.5590285060734077, "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": 1.6006810555376674, "mutual_information": 1.6006810555376674, "normalized_mutual_information": 0.5776991742267398, "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": 1.5755767114315196, "mutual_information": 1.5755767114315196, "normalized_mutual_information": 0.5674084194265904, "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": 1.574678305611756, "mutual_information": 1.574678305611756, "normalized_mutual_information": 0.565949257951986, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6231532707339618, "mutual_information": 1.6231532707339618, "normalized_mutual_information": 0.586588447752978, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5824109366296106, "mutual_information": 1.5824109366296106, "normalized_mutual_information": 0.5665576274668167, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 16, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5951930132780952, "mutual_information": 1.5951930132780952, "normalized_mutual_information": 0.5746623187375075, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6054833566495248, "mutual_information": 1.6054833566495248, "normalized_mutual_information": 0.5778147461468386, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6132265665031298, "mutual_information": 1.6132265665031298, "normalized_mutual_information": 0.581761106858508, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5914394514825474, "mutual_information": 1.5914394514825474, "normalized_mutual_information": 0.5728249902651866, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.5922085170110025, "mutual_information": 1.5922085170110025, "normalized_mutual_information": 0.5721329075348719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.607195314421607, "mutual_information": 1.607195314421607, "normalized_mutual_information": 0.5802948520154384, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.5815426729101396, "mutual_information": 1.5815426729101396, "normalized_mutual_information": 0.5681264525505173, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6470705696902124, "mutual_information": 1.6470705696902124, "normalized_mutual_information": 0.5924349244736954, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 24, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.6072860993758369, "mutual_information": 1.6072860993758369, "normalized_mutual_information": 0.579992620051902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 25, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.5934653285357578, "mutual_information": 1.5934653285357578, "normalized_mutual_information": 0.5748354486486658, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6622077698747901, "mutual_information": 1.6622077698747901, "normalized_mutual_information": 0.6013974613656078, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6006810555376674, "mutual_information": 1.6006810555376674, "normalized_mutual_information": 0.5776991742267398, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ -0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6004418828209357, "mutual_information": 1.6004418828209357, "normalized_mutual_information": 0.5785119330880161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ -0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6311157484196241, "mutual_information": 1.6311157484196241, "normalized_mutual_information": 0.5871794926906175, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.643309890024021, "mutual_information": 1.643309890024021, "normalized_mutual_information": 0.5920462808241065, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.5941857286022607, "mutual_information": 1.5941857286022607, "normalized_mutual_information": 0.5766120871188676, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.1, 0.0 ], "objective": 1.6168964689327694, "mutual_information": 1.6168964689327694, "normalized_mutual_information": 0.5832039670846901, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.6399802285904268, "mutual_information": 1.6399802285904268, "normalized_mutual_information": 0.5907112533757458, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.608228359757015, "mutual_information": 1.608228359757015, "normalized_mutual_information": 0.579735875475139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6764951701523991, "mutual_information": 1.6764951701523991, "normalized_mutual_information": 0.6025889580333157, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 36, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.6418150733407424, "mutual_information": 1.6418150733407424, "normalized_mutual_information": 0.5903604509511055, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.1 ], "objective": 1.6281079695280027, "mutual_information": 1.6281079695280027, "normalized_mutual_information": 0.588378475293156, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.703603810447336, "mutual_information": 1.703603810447336, "normalized_mutual_information": 0.6131828030574512, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6176402415589062, "mutual_information": 1.6176402415589062, "normalized_mutual_information": 0.5831860858553849, "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": 1.6510366661061653, "mutual_information": 1.6510366661061653, "normalized_mutual_information": 0.5960647288370914, "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": 1.692273331852317, "mutual_information": 1.692273331852317, "normalized_mutual_information": 0.6052268322256777, "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": 1.7017785720071732, "mutual_information": 1.7017785720071732, "normalized_mutual_information": 0.6127159203327097, "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": 1.6419761069635548, "mutual_information": 1.6419761069635548, "normalized_mutual_information": 0.5901417017997089, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.6564870449162947, "mutual_information": 1.6564870449162947, "normalized_mutual_information": 0.5955854323132782, "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": 1.6786515512153093, "mutual_information": 1.6786515512153093, "normalized_mutual_information": 0.6015459549548047, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6470705696902124, "mutual_information": 1.6470705696902124, "normalized_mutual_information": 0.5924349244736954, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.6786386495729448, "mutual_information": 1.6786386495729448, "normalized_mutual_information": 0.6013948004928605, "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": 1.653378993121164, "mutual_information": 1.653378993121164, "normalized_mutual_information": 0.5935784672545217, "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": 1.6681054105405837, "mutual_information": 1.6681054105405837, "normalized_mutual_information": 0.6018809336547566, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ -0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.697279617760626, "mutual_information": 1.697279617760626, "normalized_mutual_information": 0.6147324322515019, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ -0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6764951701523991, "mutual_information": 1.6764951701523991, "normalized_mutual_information": 0.6025889580333157, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ -0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.6824822536928032, "mutual_information": 1.6824822536928032, "normalized_mutual_information": 0.606776561341674, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ -0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7151418406515127, "mutual_information": 1.7151418406515127, "normalized_mutual_information": 0.6150284240512383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7267217146912819, "mutual_information": 1.7267217146912819, "normalized_mutual_information": 0.6221784516285226, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 55, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.65357623038934, "mutual_information": 1.65357623038934, "normalized_mutual_information": 0.5958854741788998, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.6728841707135587, "mutual_information": 1.6728841707135587, "normalized_mutual_information": 0.6050522873279959, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.697657519912769, "mutual_information": 1.697657519912769, "normalized_mutual_information": 0.6117593078748121, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6622077698747901, "mutual_information": 1.6622077698747901, "normalized_mutual_information": 0.6013974613656078, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7160836117499596, "mutual_information": 1.7160836117499596, "normalized_mutual_information": 0.6191697127348073, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.6825226295788258, "mutual_information": 1.6825226295788258, "normalized_mutual_information": 0.6062879911040917, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7030405498280696, "mutual_information": 1.7030405498280696, "normalized_mutual_information": 0.6138539370144208, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7332062879611747, "mutual_information": 1.7332062879611747, "normalized_mutual_information": 0.6279095246887186, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7017785720071732, "mutual_information": 1.7017785720071732, "normalized_mutual_information": 0.6127159203327097, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ -0.5, -0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7191837362855817, "mutual_information": 1.7191837362855817, "normalized_mutual_information": 0.619990056099934, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7279999427895028, "mutual_information": 1.7279999427895028, "normalized_mutual_information": 0.6212518488543307, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7408201650504402, "mutual_information": 1.7408201650504402, "normalized_mutual_information": 0.6288094799009682, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 67, "delta_rotation_deg_xyz": [ -0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.703603810447336, "mutual_information": 1.703603810447336, "normalized_mutual_information": 0.6131828030574512, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7126236899813618, "mutual_information": 1.7126236899813618, "normalized_mutual_information": 0.6184748107576962, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7232719649169146, "mutual_information": 1.7232719649169146, "normalized_mutual_information": 0.6231391149795359, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6902686211743017, "mutual_information": 1.6902686211743017, "normalized_mutual_information": 0.6116278029941684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7391345132359313, "mutual_information": 1.7391345132359313, "normalized_mutual_information": 0.628011275788764, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7094297929345768, "mutual_information": 1.7094297929345768, "normalized_mutual_information": 0.6177470585008721, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7266853214423545, "mutual_information": 1.7266853214423545, "normalized_mutual_information": 0.6238182961579003, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7576028102690302, "mutual_information": 1.7576028102690302, "normalized_mutual_information": 0.6349739552980803, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7167930528975337, "mutual_information": 1.7167930528975337, "normalized_mutual_information": 0.6180770996087289, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ -0.5, -0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7212084635715115, "mutual_information": 1.7212084635715115, "normalized_mutual_information": 0.6229664009180012, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7591976012909207, "mutual_information": 1.7591976012909207, "normalized_mutual_information": 0.6317550006053719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.766109728646068, "mutual_information": 1.766109728646068, "normalized_mutual_information": 0.6372573888627525, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 79, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7267217146912819, "mutual_information": 1.7267217146912819, "normalized_mutual_information": 0.6221784516285226, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7323204661029858, "mutual_information": 1.7323204661029858, "normalized_mutual_information": 0.6267410839891627, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7616177984408317, "mutual_information": 1.7616177984408317, "normalized_mutual_information": 0.6345356978980399, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7005802906676781, "mutual_information": 1.7005802906676781, "normalized_mutual_information": 0.6146480333925287, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7551476523457985, "mutual_information": 1.7551476523457985, "normalized_mutual_information": 0.6319167902324246, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7455703952739936, "mutual_information": 1.7455703952739936, "normalized_mutual_information": 0.629229278576311, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7523461352956815, "mutual_information": 1.7523461352956815, "normalized_mutual_information": 0.633058867156632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.777868244624428, "mutual_information": 1.777868244624428, "normalized_mutual_information": 0.6419589038934909, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 87, "delta_rotation_deg_xyz": [ -0.25, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.722836759354519, "mutual_information": 1.722836759354519, "normalized_mutual_information": 0.6198549140445487, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ -0.5, -0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.724549575669202, "mutual_information": 1.724549575669202, "normalized_mutual_information": 0.6256341468983134, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7765217367965285, "mutual_information": 1.7765217367965285, "normalized_mutual_information": 0.6388733547791617, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ -0.5, 0.0, -1.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7547739383381558, "mutual_information": 1.7547739383381558, "normalized_mutual_information": 0.6334285128021054, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7408201650504402, "mutual_information": 1.7408201650504402, "normalized_mutual_information": 0.6288094799009682, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7402335382826628, "mutual_information": 1.7402335382826628, "normalized_mutual_information": 0.6288468111600943, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7718445315926932, "mutual_information": 1.7718445315926932, "normalized_mutual_information": 0.6387738688275034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7162794509616441, "mutual_information": 1.7162794509616441, "normalized_mutual_information": 0.6218350049456435, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.760047669574383, "mutual_information": 1.760047669574383, "normalized_mutual_information": 0.6343332823991154, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7496442166121, "mutual_information": 1.7496442166121, "normalized_mutual_information": 0.6309110361415637, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7479543696458755, "mutual_information": 1.7479543696458755, "normalized_mutual_information": 0.6318065366848953, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ -1.0, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7510349435529078, "mutual_information": 1.7510349435529078, "normalized_mutual_information": 0.6345936147592298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ -0.5, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.766109728646068, "mutual_information": 1.766109728646068, "normalized_mutual_information": 0.6372573888627525, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ -0.75, -0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7417081642979875, "mutual_information": 1.7417081642979875, "normalized_mutual_information": 0.6305975761251214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7851256520920706, "mutual_information": 1.7851256520920706, "normalized_mutual_information": 0.643305130398776, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 102, "delta_rotation_deg_xyz": [ -0.75, 0.0, -1.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7826109491543292, "mutual_information": 1.7826109491543292, "normalized_mutual_information": 0.6444806058957077, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7576028102690302, "mutual_information": 1.7576028102690302, "normalized_mutual_information": 0.6349739552980803, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7547419080069027, "mutual_information": 1.7547419080069027, "normalized_mutual_information": 0.6359397438629918, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7618480189047263, "mutual_information": 1.7618480189047263, "normalized_mutual_information": 0.6363221013247031, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7500662632554984, "mutual_information": 1.7500662632554984, "normalized_mutual_information": 0.635200452518964, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7814437125549576, "mutual_information": 1.7814437125549576, "normalized_mutual_information": 0.6415701371447334, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7692045703048647, "mutual_information": 1.7692045703048647, "normalized_mutual_information": 0.6400074296682935, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7817805654267354, "mutual_information": 1.7817805654267354, "normalized_mutual_information": 0.6441594720313965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ -1.0, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7577810780468723, "mutual_information": 1.7577810780468723, "normalized_mutual_information": 0.6338901832903185, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7765217367965285, "mutual_information": 1.7765217367965285, "normalized_mutual_information": 0.6388733547791617, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.777868244624428, "mutual_information": 1.777868244624428, "normalized_mutual_information": 0.6419589038934909, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ -0.75, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7833338896175663, "mutual_information": 1.7833338896175663, "normalized_mutual_information": 0.6440113259249222, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ -0.75, 0.25, -1.0 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7874562749262994, "mutual_information": 1.7874562749262994, "normalized_mutual_information": 0.6436350774176874, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7571029941064935, "mutual_information": 1.7571029941064935, "normalized_mutual_information": 0.6332215910968177, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ -0.1, 0.2, 0.0 ], "objective": 1.7876209487203447, "mutual_information": 1.7876209487203447, "normalized_mutual_information": 0.6440696850923432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8004050308047763, "mutual_information": 1.8004050308047763, "normalized_mutual_information": 0.6486802464350556, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 118, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.776548671382674, "mutual_information": 1.776548671382674, "normalized_mutual_information": 0.6422938782653199, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7919880121407445, "mutual_information": 1.7919880121407445, "normalized_mutual_information": 0.6429041802902069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, -0.1 ], "objective": 1.7948592334930602, "mutual_information": 1.7948592334930602, "normalized_mutual_information": 0.6435959943758646, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.1 ], "objective": 1.7922637312541367, "mutual_information": 1.7922637312541367, "normalized_mutual_information": 0.6464971436214748, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ -1.0, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7725191377164677, "mutual_information": 1.7725191377164677, "normalized_mutual_information": 0.6420031270329418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7873068114885584, "mutual_information": 1.7873068114885584, "normalized_mutual_information": 0.6434044973373577, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7618480189047263, "mutual_information": 1.7618480189047263, "normalized_mutual_information": 0.6363221013247031, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ -0.75, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8016291393335233, "mutual_information": 1.8016291393335233, "normalized_mutual_information": 0.6503132937523873, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ -0.75, 0.25, -1.0 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.8096123755093891, "mutual_information": 1.8096123755093891, "normalized_mutual_information": 0.6514700314518297, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 127, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.0 ], "objective": 1.7848282442396777, "mutual_information": 1.7848282442396777, "normalized_mutual_information": 0.6431593979596618, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.2, 0.0 ], "objective": 1.7851256520920706, "mutual_information": 1.7851256520920706, "normalized_mutual_information": 0.643305130398776, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.2, 0.0 ], "objective": 1.8026097774851948, "mutual_information": 1.8026097774851948, "normalized_mutual_information": 0.6503642443993118, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.1, 0.0 ], "objective": 1.796756304958125, "mutual_information": 1.796756304958125, "normalized_mutual_information": 0.6498605268859353, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8202086596174052, "mutual_information": 1.8202086596174052, "normalized_mutual_information": 0.6544183773152814, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 132, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, -0.1 ], "objective": 1.8134289908054217, "mutual_information": 1.8134289908054217, "normalized_mutual_information": 0.6531029234960122, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.2, 0.1 ], "objective": 1.8049947156640798, "mutual_information": 1.8049947156640798, "normalized_mutual_information": 0.6506338475283463, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ -1.0, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7316748396662682, "mutual_information": 1.7316748396662682, "normalized_mutual_information": 0.6269123328405037, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ -0.5, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7845817016680119, "mutual_information": 1.7845817016680119, "normalized_mutual_information": 0.6407918807356013, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ -0.75, 0.0, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7712170710255055, "mutual_information": 1.7712170710255055, "normalized_mutual_information": 0.6377809592277103, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ -0.75, 0.5, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8076702716195931, "mutual_information": 1.8076702716195931, "normalized_mutual_information": 0.6502732192771026, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ -0.75, 0.25, -1.0 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7957752216734544, "mutual_information": 1.7957752216734544, "normalized_mutual_information": 0.6476928021054059, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.5 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.804134125795965, "mutual_information": 1.804134125795965, "normalized_mutual_information": 0.6480393701859642, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.0, 0.30000000000000004, 0.0 ], "objective": 1.7919880121407445, "mutual_information": 1.7919880121407445, "normalized_mutual_information": 0.6429041802902069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.7971597166768882, "mutual_information": 1.7971597166768882, "normalized_mutual_information": 0.6494845719908737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.20000000000000004, 0.0 ], "objective": 1.8004050308047763, "mutual_information": 1.8004050308047763, "normalized_mutual_information": 0.6486802464350556, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.4, 0.0 ], "objective": 1.7594387868666992, "mutual_information": 1.7594387868666992, "normalized_mutual_information": 0.6343155736155773, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.1 ], "objective": 1.8147729184751782, "mutual_information": 1.8147729184751782, "normalized_mutual_information": 0.6536839942511677, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.1 ], "objective": 1.8065438260872912, "mutual_information": 1.8065438260872912, "normalized_mutual_information": 0.6486562221209909, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 146, "delta_rotation_deg_xyz": [ -0.875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7812699821515867, "mutual_information": 1.7812699821515867, "normalized_mutual_information": 0.6436802277768253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.812395193110751, "mutual_information": 1.812395193110751, "normalized_mutual_information": 0.6522029836014783, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ -0.75, 0.125, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7977853967771924, "mutual_information": 1.7977853967771924, "normalized_mutual_information": 0.6446128927681469, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ -0.75, 0.375, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.7977264749921307, "mutual_information": 1.7977264749921307, "normalized_mutual_information": 0.6491884083549034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 150, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.875 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8160698617857582, "mutual_information": 1.8160698617857582, "normalized_mutual_information": 0.6543127292620895, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.0 ], "objective": 1.8026470049002767, "mutual_information": 1.8026470049002767, "normalized_mutual_information": 0.6470761470685099, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.05, 0.30000000000000004, 0.0 ], "objective": 1.8001869902144136, "mutual_information": 1.8001869902144136, "normalized_mutual_information": 0.6455278253939242, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8210182910692883, "mutual_information": 1.8210182910692883, "normalized_mutual_information": 0.6548078944585185, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 154, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.25000000000000006, 0.0 ], "objective": 1.801300487932543, "mutual_information": 1.801300487932543, "normalized_mutual_information": 0.6490369178025196, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.35000000000000003, 0.0 ], "objective": 1.7870197351268349, "mutual_information": 1.7870197351268349, "normalized_mutual_information": 0.6434308517021116, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, -0.05 ], "objective": 1.8101553111411122, "mutual_information": 1.8101553111411122, "normalized_mutual_information": 0.6507697757915699, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1, 0.30000000000000004, 0.05 ], "objective": 1.802112728442107, "mutual_information": 1.802112728442107, "normalized_mutual_information": 0.6491428673973912, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ -0.875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.795049300700919, "mutual_information": 1.795049300700919, "normalized_mutual_information": 0.6480704213383109, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8142859632020478, "mutual_information": 1.8142859632020478, "normalized_mutual_information": 0.6541730770345064, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ -0.75, 0.125, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.7963364513566138, "mutual_information": 1.7963364513566138, "normalized_mutual_information": 0.6461622971105427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ -0.75, 0.375, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8079599764056342, "mutual_information": 1.8079599764056342, "normalized_mutual_information": 0.6507620756690166, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.875 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8166456322366027, "mutual_information": 1.8166456322366027, "normalized_mutual_information": 0.6531894044234988, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.625 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.798061902510507, "mutual_information": 1.798061902510507, "normalized_mutual_information": 0.6463009608116984, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.10000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8202086596174052, "mutual_information": 1.8202086596174052, "normalized_mutual_information": 0.6544183773152814, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.2, 0.30000000000000004, 0.0 ], "objective": 1.7971597166768882, "mutual_information": 1.7971597166768882, "normalized_mutual_information": 0.6494845719908737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.25000000000000006, 0.0 ], "objective": 1.814382536431201, "mutual_information": 1.814382536431201, "normalized_mutual_information": 0.6529284519248829, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.35000000000000003, 0.0 ], "objective": 1.808772244730644, "mutual_information": 1.808772244730644, "normalized_mutual_information": 0.6515491732766939, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.05 ], "objective": 1.8073077911516655, "mutual_information": 1.8073077911516655, "normalized_mutual_information": 0.6506103530056826, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.05 ], "objective": 1.8096377796667784, "mutual_information": 1.8096377796667784, "normalized_mutual_information": 0.6521467201451392, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 170, "delta_rotation_deg_xyz": [ -0.8125, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.795443053771482, "mutual_information": 1.795443053771482, "normalized_mutual_information": 0.6477128728646405, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.822713829872659, "mutual_information": 1.822713829872659, "normalized_mutual_information": 0.6563194091303288, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 172, "delta_rotation_deg_xyz": [ -0.75, 0.1875, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8109463530166057, "mutual_information": 1.8109463530166057, "normalized_mutual_information": 0.6512455526652506, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ -0.75, 0.3125, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.7894801337995723, "mutual_information": 1.7894801337995723, "normalized_mutual_information": 0.6467414384104022, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.8125 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8121235459538838, "mutual_information": 1.8121235459538838, "normalized_mutual_information": 0.6509124087899124, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.6875 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.808051533033538, "mutual_information": 1.808051533033538, "normalized_mutual_information": 0.650414416697142, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.12500000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8047040083742292, "mutual_information": 1.8047040083742292, "normalized_mutual_information": 0.6492044039105577, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8164254217305373, "mutual_information": 1.8164254217305373, "normalized_mutual_information": 0.6538270367591098, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.275, 0.0 ], "objective": 1.8113502162882364, "mutual_information": 1.8113502162882364, "normalized_mutual_information": 0.65178829167788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.32500000000000007, 0.0 ], "objective": 1.8074942499842166, "mutual_information": 1.8074942499842166, "normalized_mutual_information": 0.6509213174365385, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.025 ], "objective": 1.8136740562449323, "mutual_information": 1.8136740562449323, "normalized_mutual_information": 0.652292848507588, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.025 ], "objective": 1.8019708974629574, "mutual_information": 1.8019708974629574, "normalized_mutual_information": 0.6484424817573738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 182, "delta_rotation_deg_xyz": [ -0.75, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8210182910692883, "mutual_information": 1.8210182910692883, "normalized_mutual_information": 0.6548078944585185, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 183, "delta_rotation_deg_xyz": [ -0.625, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8142859632020478, "mutual_information": 1.8142859632020478, "normalized_mutual_information": 0.6541730770345064, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 184, "delta_rotation_deg_xyz": [ -0.6875, 0.1875, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8176920676512403, "mutual_information": 1.8176920676512403, "normalized_mutual_information": 0.654171370483259, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 185, "delta_rotation_deg_xyz": [ -0.6875, 0.3125, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.81037954691622, "mutual_information": 1.81037954691622, "normalized_mutual_information": 0.6527219150810563, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 186, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.8125 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8212580847046744, "mutual_information": 1.8212580847046744, "normalized_mutual_information": 0.655928906993235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 187, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.6875 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8214898059718714, "mutual_information": 1.8214898059718714, "normalized_mutual_information": 0.6549242369220267, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 188, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.12500000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8085586457421179, "mutual_information": 1.8085586457421179, "normalized_mutual_information": 0.651748137862028, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 189, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.17500000000000002, 0.30000000000000004, 0.0 ], "objective": 1.818445141211277, "mutual_information": 1.818445141211277, "normalized_mutual_information": 0.6548893140533353, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 190, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.275, 0.0 ], "objective": 1.80769067559845, "mutual_information": 1.80769067559845, "normalized_mutual_information": 0.6526117713471606, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 191, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.32500000000000007, 0.0 ], "objective": 1.8201515414668357, "mutual_information": 1.8201515414668357, "normalized_mutual_information": 0.654848892358745, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 192, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.025 ], "objective": 1.8142848666154514, "mutual_information": 1.8142848666154514, "normalized_mutual_information": 0.6523609025481032, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 193, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.025 ], "objective": 1.81244697648597, "mutual_information": 1.81244697648597, "normalized_mutual_information": 0.6529797202291369, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 194, "delta_rotation_deg_xyz": [ -0.71875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.818681139973618, "mutual_information": 1.818681139973618, "normalized_mutual_information": 0.653167365356684, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 195, "delta_rotation_deg_xyz": [ -0.65625, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8122871750386853, "mutual_information": 1.8122871750386853, "normalized_mutual_information": 0.6542661684987205, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 196, "delta_rotation_deg_xyz": [ -0.6875, 0.21875, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8139219655607597, "mutual_information": 1.8139219655607597, "normalized_mutual_information": 0.6534331639749632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 197, "delta_rotation_deg_xyz": [ -0.6875, 0.28125, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.821581841323476, "mutual_information": 1.821581841323476, "normalized_mutual_information": 0.6562839350723876, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 198, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.78125 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8133270987330967, "mutual_information": 1.8133270987330967, "normalized_mutual_information": 0.6534469697770761, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 199, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.71875 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.8204715713687019, "mutual_information": 1.8204715713687019, "normalized_mutual_information": 0.6550132932771038, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 200, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.1375, 0.30000000000000004, 0.0 ], "objective": 1.8134322004698884, "mutual_information": 1.8134322004698884, "normalized_mutual_information": 0.6531324561714383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 201, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8259436439046108, "mutual_information": 1.8259436439046108, "normalized_mutual_information": 0.6573351180117183, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 202, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.28750000000000003, 0.0 ], "objective": 1.8121997818847493, "mutual_information": 1.8121997818847493, "normalized_mutual_information": 0.6524444203249203, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 203, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.31250000000000006, 0.0 ], "objective": 1.8176859018775204, "mutual_information": 1.8176859018775204, "normalized_mutual_information": 0.6529108403049576, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 204, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, -0.0125 ], "objective": 1.8232226298548555, "mutual_information": 1.8232226298548555, "normalized_mutual_information": 0.6554648673089699, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 205, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0125 ], "objective": 1.8172929136544933, "mutual_information": 1.8172929136544933, "normalized_mutual_information": 0.6546647121292898, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 206, "delta_rotation_deg_xyz": [ -0.71875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8209120166755486, "mutual_information": 1.8209120166755486, "normalized_mutual_information": 0.6541721684448668, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 207, "delta_rotation_deg_xyz": [ -0.65625, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8170444612280334, "mutual_information": 1.8170444612280334, "normalized_mutual_information": 0.6544229063410203, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 208, "delta_rotation_deg_xyz": [ -0.6875, 0.21875, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8169438277927616, "mutual_information": 1.8169438277927616, "normalized_mutual_information": 0.654170375704528, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 209, "delta_rotation_deg_xyz": [ -0.6875, 0.28125, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8133469448383888, "mutual_information": 1.8133469448383888, "normalized_mutual_information": 0.6539285161981532, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 210, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.78125 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8201087255188508, "mutual_information": 1.8201087255188508, "normalized_mutual_information": 0.6549274118095844, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 211, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.71875 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8235471433642452, "mutual_information": 1.8235471433642452, "normalized_mutual_information": 0.6561373943578427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 212, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15000000000000002, 0.30000000000000004, 0.0 ], "objective": 1.822713829872659, "mutual_information": 1.822713829872659, "normalized_mutual_information": 0.6563194091303288, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 213, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.17500000000000004, 0.30000000000000004, 0.0 ], "objective": 1.818445141211277, "mutual_information": 1.818445141211277, "normalized_mutual_information": 0.6548893140533353, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 214, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.28750000000000003, 0.0 ], "objective": 1.8131458773969973, "mutual_information": 1.8131458773969973, "normalized_mutual_information": 0.6521121098902366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 215, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.31250000000000006, 0.0 ], "objective": 1.8153988602039777, "mutual_information": 1.8153988602039777, "normalized_mutual_information": 0.6521885225566835, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 216, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, -0.0125 ], "objective": 1.8220895335243636, "mutual_information": 1.8220895335243636, "normalized_mutual_information": 0.6555351896548398, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 217, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0125 ], "objective": 1.8224764878196664, "mutual_information": 1.8224764878196664, "normalized_mutual_information": 0.6565508095391769, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 218, "delta_rotation_deg_xyz": [ -0.703125, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8202158887234698, "mutual_information": 1.8202158887234698, "normalized_mutual_information": 0.655075567155936, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 219, "delta_rotation_deg_xyz": [ -0.671875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.822756419608872, "mutual_information": 1.822756419608872, "normalized_mutual_information": 0.6563059391838725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 220, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8279290066213323, "mutual_information": 1.8279290066213323, "normalized_mutual_information": 0.6580881086124126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 221, "delta_rotation_deg_xyz": [ -0.6875, 0.265625, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8192951558118686, "mutual_information": 1.8192951558118686, "normalized_mutual_information": 0.6555460910895275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 222, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.765625 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8209913271189901, "mutual_information": 1.8209913271189901, "normalized_mutual_information": 0.655358305355039, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 223, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8280010036712333, "mutual_information": 1.8280010036712333, "normalized_mutual_information": 0.6576282402326383, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 224, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.15625000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8236058829975963, "mutual_information": 1.8236058829975963, "normalized_mutual_information": 0.6562261223872831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 225, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16875000000000004, 0.30000000000000004, 0.0 ], "objective": 1.824262327781292, "mutual_information": 1.824262327781292, "normalized_mutual_information": 0.6567434321223193, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 226, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.29375000000000007, 0.0 ], "objective": 1.823235503452579, "mutual_information": 1.823235503452579, "normalized_mutual_information": 0.6558744812742967, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 227, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30625, 0.0 ], "objective": 1.817514987288754, "mutual_information": 1.817514987288754, "normalized_mutual_information": 0.6538370979885347, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 228, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, -0.00625 ], "objective": 1.8233870554929006, "mutual_information": 1.8233870554929006, "normalized_mutual_information": 0.6566140365631021, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 229, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.00625 ], "objective": 1.8204725591962883, "mutual_information": 1.8204725591962883, "normalized_mutual_information": 0.6557447783322163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 230, "delta_rotation_deg_xyz": [ -0.703125, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8250936988889397, "mutual_information": 1.8250936988889397, "normalized_mutual_information": 0.6563232756933902, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 231, "delta_rotation_deg_xyz": [ -0.671875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8220214657214397, "mutual_information": 1.8220214657214397, "normalized_mutual_information": 0.6563780997913026, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 232, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.828381646452204, "mutual_information": 1.828381646452204, "normalized_mutual_information": 0.6579372153991859, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 233, "delta_rotation_deg_xyz": [ -0.6875, 0.265625, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8228244650991041, "mutual_information": 1.8228244650991041, "normalized_mutual_information": 0.6566807043938632, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 234, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8259436439046108, "mutual_information": 1.8259436439046108, "normalized_mutual_information": 0.6573351180117183, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 235, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.71875 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8235471433642452, "mutual_information": 1.8235471433642452, "normalized_mutual_information": 0.6561373943578427, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 236, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.15625000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8249012611533264, "mutual_information": 1.8249012611533264, "normalized_mutual_information": 0.6562820996599926, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 237, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16875000000000004, 0.30000000000000004, 0.0 ], "objective": 1.8277176543337703, "mutual_information": 1.8277176543337703, "normalized_mutual_information": 0.6578213539700253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 238, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.29375000000000007, 0.0 ], "objective": 1.8227212150233207, "mutual_information": 1.8227212150233207, "normalized_mutual_information": 0.656089775961767, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 239, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30625, 0.0 ], "objective": 1.8226186193932878, "mutual_information": 1.8226186193932878, "normalized_mutual_information": 0.6548713848110972, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 240, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, -0.00625 ], "objective": 1.8277497161691538, "mutual_information": 1.8277497161691538, "normalized_mutual_information": 0.6578815878982769, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 241, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.00625 ], "objective": 1.8226095699067055, "mutual_information": 1.8226095699067055, "normalized_mutual_information": 0.6562935069734849, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 242, "delta_rotation_deg_xyz": [ -0.703125, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.825407528191212, "mutual_information": 1.825407528191212, "normalized_mutual_information": 0.6561875491627952, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 243, "delta_rotation_deg_xyz": [ -0.671875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8205619078038915, "mutual_information": 1.8205619078038915, "normalized_mutual_information": 0.6562114739271571, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 244, "delta_rotation_deg_xyz": [ -0.6875, 0.21875, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8169338519391018, "mutual_information": 1.8169338519391018, "normalized_mutual_information": 0.6537919783358568, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 245, "delta_rotation_deg_xyz": [ -0.6875, 0.25, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8280010036712333, "mutual_information": 1.8280010036712333, "normalized_mutual_information": 0.6576282402326383, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 246, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.75 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8279290066213323, "mutual_information": 1.8279290066213323, "normalized_mutual_information": 0.6580881086124126, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 247, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.71875 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8240861706591514, "mutual_information": 1.8240861706591514, "normalized_mutual_information": 0.6562389061227006, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 248, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.15625000000000003, 0.30000000000000004, 0.0 ], "objective": 1.8193190924654665, "mutual_information": 1.8193190924654665, "normalized_mutual_information": 0.6550980003467478, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 249, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16875000000000004, 0.30000000000000004, 0.0 ], "objective": 1.8235501411712478, "mutual_information": 1.8235501411712478, "normalized_mutual_information": 0.6564826179137246, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 250, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.29375000000000007, 0.0 ], "objective": 1.82310775711954, "mutual_information": 1.82310775711954, "normalized_mutual_information": 0.6562040741932601, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 251, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30625, 0.0 ], "objective": 1.8255595709796666, "mutual_information": 1.8255595709796666, "normalized_mutual_information": 0.6557579149771852, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 252, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, -0.00625 ], "objective": 1.8257771795712612, "mutual_information": 1.8257771795712612, "normalized_mutual_information": 0.6567177429199301, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 253, "delta_rotation_deg_xyz": [ -0.6875, 0.234375, -0.734375 ], "delta_translation_m_xyz": [ 0.16250000000000003, 0.30000000000000004, 0.00625 ], "objective": 1.8233215250913581, "mutual_information": 1.8233215250913581, "normalized_mutual_information": 0.6565019981753978, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.8511217903322742, "translation_m": 0.3659320292076112, "recovered": false }, "mi_seconds": 0.5467091689934023, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.0464683522249636, "translation_m": 0.45537477494552075, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4833423553351641, "archived_cost": 1043.3691206462124, "common_supported": 1359, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1107.7817104405965, "supported_cost": 128.49466947910457, "signed_quantiles_m": [ -27.945661499133266, -2.608540380713476, -0.05091745213311505, 0.5842581652713076, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29243353783231085, "common_support_cost": 115.65669050012025 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1090.4824630394473, "supported_cost": 111.19542207795568, "signed_quantiles_m": [ -27.4623191437981, -2.1251980253783116, 0.43242490320204907, 1.0676005206064718, 43.74736597080417 ], "negative_fraction": 0.29175187457396046, "absolute_over_1m_fraction": 0.27880027266530333, "common_support_cost": 100.02915959537788 }, "fit_zero": { "total": 12288, "supported": 1584, "cost": 1052.691466374588, "supported_cost": 83.99277988980751, "signed_quantiles_m": [ -39.98032852338636, -1.4071015619944223, 0.20644893744543946, 4.391796825075441, 42.786307710278905 ], "negative_fraction": 0.32512626262626265, "absolute_over_1m_fraction": 0.4078282828282828, "common_support_cost": 71.3530680973471 }, "fit_fitted_bias": { "total": 12288, "supported": 1584, "cost": 1043.3691206462127, "supported_cost": 74.67043416143221, "signed_quantiles_m": [ -39.4969861680512, -0.9237592066592581, 0.6897912927806036, 4.8751391804106055, 43.269650065614066 ], "negative_fraction": 0.1571969696969697, "absolute_over_1m_fraction": 0.494949494949495, "common_support_cost": 63.29049848557025 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.556581657181103, "translation_m": 0.5284694126063602, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.3517125924901866, "archived_cost": 1122.5217831907385, "common_supported": 1322, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 112.20577457224246 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1095.124374746947, "supported_cost": 115.83733378545517, "signed_quantiles_m": [ -28.60334723599201, -2.187324751341056, 0.3007792826941572, 0.9408205727504411, 43.615736207959195 ], "negative_fraction": 0.3258350374914792, "absolute_over_1m_fraction": 0.2794819359236537, "common_support_cost": 100.38545614964347 }, "fit_zero": { "total": 12288, "supported": 1494, "cost": 1134.8123850105444, "supported_cost": 157.9688104667552, "signed_quantiles_m": [ -33.0593872820801, -3.252025506328741, 0.4737338867987275, 3.3013091298992303, 42.94447447622317 ], "negative_fraction": 0.32262382864792505, "absolute_over_1m_fraction": 0.4785809906291834, "common_support_cost": 136.11658546955223 }, "fit_fitted_bias": { "total": 12288, "supported": 1494, "cost": 1122.5217831907387, "supported_cost": 145.67820864694957, "signed_quantiles_m": [ -32.707674689589915, -2.900312913838554, 0.8254464792889141, 3.653021722389417, 43.29618706871336 ], "negative_fraction": 0.2536813922356091, "absolute_over_1m_fraction": 0.571619812583668, "common_support_cost": 125.01352124459555 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.556581657181103, "translation_m": 0.5284694126063602, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1117.8324551417636, "common_supported": 1322, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 112.20577457224246 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1090.2437632986603, "supported_cost": 110.95672233716846, "signed_quantiles_m": [ -28.455060357410577, -2.039037872759621, 0.4490661612755921, 1.0891074513318761, 43.764023086540625 ], "negative_fraction": 0.29243353783231085, "absolute_over_1m_fraction": 0.28561690524880706, "common_support_cost": 96.0380547423168 }, "fit_zero": { "total": 12288, "supported": 1494, "cost": 1134.8123850105444, "supported_cost": 157.9688104667552, "signed_quantiles_m": [ -33.0593872820801, -3.252025506328741, 0.4737338867987275, 3.3013091298992303, 42.94447447622317 ], "negative_fraction": 0.32262382864792505, "absolute_over_1m_fraction": 0.4785809906291834, "common_support_cost": 136.11658546955223 }, "fit_fitted_bias": { "total": 12288, "supported": 1494, "cost": 1117.8324551417636, "supported_cost": 140.9888805979744, "signed_quantiles_m": [ -32.559387811008484, -2.7520260352571193, 0.9737333578703491, 3.801308600970852, 43.44447394729479 ], "negative_fraction": 0.23560910307898258, "absolute_over_1m_fraction": 0.6506024096385542, "common_support_cost": 120.83113438438258 } } } ] }, { "case_id": "2011_09_26_0015-reference", "start": "reference", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.07546671853346001, -0.2693869124058732 ], "rotation_quat_xyzw": [ 0.4947772517789984, -0.49996981832296017, 0.49991278639474485, 0.5052849274292378 ] }, "transform_camera_lidar": { "translation_m": [ 0.0570524478595304, -0.08171671853346002, -0.3068869124058732 ], "rotation_quat_xyzw": [ 0.49587843412795707, -0.501059268130212, 0.4988208326199578, 0.5042042892835737 ] }, "best_delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "best_delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.800282866709658, "normalized_mutual_information": 0.6472339106245837, "visible_point_count": 1523, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.7599804068442975, "normalized_mutual_information": 0.6364633292426399, "visible_point_count": 518, "projected_count_before_visibility": 629 }, { "frame_id": "frame-148", "mutual_information": 1.7655412538643418, "normalized_mutual_information": 0.6450552461257251, "visible_point_count": 502, "projected_count_before_visibility": 628 }, { "frame_id": "frame-222", "mutual_information": 1.8753269394203347, "normalized_mutual_information": 0.6601831565053858, "visible_point_count": 503, "projected_count_before_visibility": 579 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.8309412727878778, "normalized_mutual_information": 0.6586969081497681, "visible_point_count": 1523, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.812398302144313, "normalized_mutual_information": 0.6512694500507152, "visible_point_count": 526, "projected_count_before_visibility": 634 }, { "frame_id": "frame-148", "mutual_information": 1.7650804308725938, "normalized_mutual_information": 0.6498673434932578, "visible_point_count": 502, "projected_count_before_visibility": 631 }, { "frame_id": "frame-222", "mutual_information": 1.9153450853467264, "normalized_mutual_information": 0.6749539309053313, "visible_point_count": 495, "projected_count_before_visibility": 581 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.800282866709658, "mutual_information": 1.800282866709658, "normalized_mutual_information": 0.6472339106245837, "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": 1.7718326712879524, "mutual_information": 1.7718326712879524, "normalized_mutual_information": 0.6408735295299745, "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": 1.8169929860343708, "mutual_information": 1.8169929860343708, "normalized_mutual_information": 0.6536774992209042, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 4, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8034426425020555, "mutual_information": 1.8034426425020555, "normalized_mutual_information": 0.6530072517058997, "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": 1.801941156896176, "mutual_information": 1.801941156896176, "normalized_mutual_information": 0.6476636413833836, "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": 1.8117631439705744, "mutual_information": 1.8117631439705744, "normalized_mutual_information": 0.6528830635235167, "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": 1.7820229082382504, "mutual_information": 1.7820229082382504, "normalized_mutual_information": 0.6408994395162941, "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": 1.7996371210656825, "mutual_information": 1.7996371210656825, "normalized_mutual_information": 0.6491184917987015, "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": 1.8064866410253533, "mutual_information": 1.8064866410253533, "normalized_mutual_information": 0.6511217279477467, "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": 1.7943718986763553, "mutual_information": 1.7943718986763553, "normalized_mutual_information": 0.645683496290364, "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": 1.7861574772401745, "mutual_information": 1.7861574772401745, "normalized_mutual_information": 0.6416988187701217, "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": 1.8089518950298287, "mutual_information": 1.8089518950298287, "normalized_mutual_information": 0.6478984376983022, "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": 1.7931685942846638, "mutual_information": 1.7931685942846638, "normalized_mutual_information": 0.6485606237352544, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.800282866709658, "mutual_information": 1.800282866709658, "normalized_mutual_information": 0.6472339106245837, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7149144761344057, "mutual_information": 1.7149144761344057, "normalized_mutual_information": 0.615911306723052, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7846841275389762, "mutual_information": 1.7846841275389762, "normalized_mutual_information": 0.6457842193522446, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7781285495007484, "mutual_information": 1.7781285495007484, "normalized_mutual_information": 0.6382751899628235, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.789529167061761, "mutual_information": 1.789529167061761, "normalized_mutual_information": 0.6442048560095439, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.777504485142756, "mutual_information": 1.777504485142756, "normalized_mutual_information": 0.6407903024812365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.784116815388554, "mutual_information": 1.784116815388554, "normalized_mutual_information": 0.6433767800457214, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.80175120509878, "mutual_information": 1.80175120509878, "normalized_mutual_information": 0.6472237930363339, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.7397822129336535, "mutual_information": 1.7397822129336535, "normalized_mutual_information": 0.6247695318256253, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.8043847055553774, "mutual_information": 1.8043847055553774, "normalized_mutual_information": 0.6467819789021927, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 24, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8010247759046505, "mutual_information": 1.8010247759046505, "normalized_mutual_information": 0.6454399247510414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.7893251196300646, "mutual_information": 1.7893251196300646, "normalized_mutual_information": 0.6457299556518045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7919950511531422, "mutual_information": 1.7919950511531422, "normalized_mutual_information": 0.6457797338591567, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.375, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7647777144968757, "mutual_information": 1.7647777144968757, "normalized_mutual_information": 0.6353473208442698, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.25, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7964671337292826, "mutual_information": 1.7964671337292826, "normalized_mutual_information": 0.647424959586302, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.25, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8096037247966474, "mutual_information": 1.8096037247966474, "normalized_mutual_information": 0.6493717516584052, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.807844324993929, "mutual_information": 1.807844324993929, "normalized_mutual_information": 0.6505937688774924, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.786622532362274, "mutual_information": 1.786622532362274, "normalized_mutual_information": 0.6442666817818178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, 0.0 ], "objective": 1.7916787943312886, "mutual_information": 1.7916787943312886, "normalized_mutual_information": 0.6461565167571371, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, 0.0 ], "objective": 1.80149820045905, "mutual_information": 1.80149820045905, "normalized_mutual_information": 0.6475473796648776, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, 0.0 ], "objective": 1.7614156880457676, "mutual_information": 1.7614156880457676, "normalized_mutual_information": 0.6346494541537998, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, 0.0 ], "objective": 1.790798298901829, "mutual_information": 1.790798298901829, "normalized_mutual_information": 0.6423192501331365, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8189901146987981, "mutual_information": 1.8189901146987981, "normalized_mutual_information": 0.6536569472408696, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.05 ], "objective": 1.7977947102907408, "mutual_information": 1.7977947102907408, "normalized_mutual_information": 0.6476174255307322, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8008897853187393, "mutual_information": 1.8008897853187393, "normalized_mutual_information": 0.6482834815393322, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 0.375, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7700751493526645, "mutual_information": 1.7700751493526645, "normalized_mutual_information": 0.6374859210135155, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.25, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7982493743821772, "mutual_information": 1.7982493743821772, "normalized_mutual_information": 0.6472477595208966, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.25, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.806653303539256, "mutual_information": 1.806653303539256, "normalized_mutual_information": 0.6458085565276117, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7982093170592324, "mutual_information": 1.7982093170592324, "normalized_mutual_information": 0.6469511670398571, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7959291349108542, "mutual_information": 1.7959291349108542, "normalized_mutual_information": 0.6463359629324298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.05 ], "objective": 1.8056899160021533, "mutual_information": 1.8056899160021533, "normalized_mutual_information": 0.6494969118943454, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.05 ], "objective": 1.7952955872283445, "mutual_information": 1.7952955872283445, "normalized_mutual_information": 0.6437976510062493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.05 ], "objective": 1.7646055407753998, "mutual_information": 1.7646055407753998, "normalized_mutual_information": 0.6358114702705954, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.05 ], "objective": 1.7920684901370958, "mutual_information": 1.7920684901370958, "normalized_mutual_information": 0.6420125083890021, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.8010247759046505, "mutual_information": 1.8010247759046505, "normalized_mutual_information": 0.6454399247510414, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8169929860343708, "mutual_information": 1.8169929860343708, "normalized_mutual_information": 0.6536774992209042, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.1875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7917982427133659, "mutual_information": 1.7917982427133659, "normalized_mutual_information": 0.6443562524496443, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 0.3125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7966927097361216, "mutual_information": 1.7966927097361216, "normalized_mutual_information": 0.6468305276291215, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.25, -0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7980516939109688, "mutual_information": 1.7980516939109688, "normalized_mutual_information": 0.6467323016884393, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.25, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8051405274274914, "mutual_information": 1.8051405274274914, "normalized_mutual_information": 0.6473085354198275, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.809783042450168, "mutual_information": 1.809783042450168, "normalized_mutual_information": 0.6507718301048366, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8065022681900735, "mutual_information": 1.8065022681900735, "normalized_mutual_information": 0.649193626636193, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.05 ], "objective": 1.8078833897814723, "mutual_information": 1.8078833897814723, "normalized_mutual_information": 0.6504715198905408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.05 ], "objective": 1.8043564661914289, "mutual_information": 1.8043564661914289, "normalized_mutual_information": 0.6466048006482211, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.05 ], "objective": 1.7903115017504898, "mutual_information": 1.7903115017504898, "normalized_mutual_information": 0.6433289764096329, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.05 ], "objective": 1.7920543286308395, "mutual_information": 1.7920543286308395, "normalized_mutual_information": 0.642618115844087, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.07500000000000001 ], "objective": 1.797303119514171, "mutual_information": 1.797303119514171, "normalized_mutual_information": 0.645450849113375, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8192599650871937, "mutual_information": 1.8192599650871937, "normalized_mutual_information": 0.6532893578988904, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.1875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.7951816114137336, "mutual_information": 1.7951816114137336, "normalized_mutual_information": 0.6462632815343373, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.3125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.7929732651903787, "mutual_information": 1.7929732651903787, "normalized_mutual_information": 0.6448613512203325, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.25, -0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8046506998062888, "mutual_information": 1.8046506998062888, "normalized_mutual_information": 0.6492499937922445, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.25, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.811584249327285, "mutual_information": 1.811584249327285, "normalized_mutual_information": 0.6500508926500164, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8174462041275128, "mutual_information": 1.8174462041275128, "normalized_mutual_information": 0.6530700863694965, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8150029964016874, "mutual_information": 1.8150029964016874, "normalized_mutual_information": 0.6523348996365058, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.025 ], "objective": 1.8120205857504323, "mutual_information": 1.8120205857504323, "normalized_mutual_information": 0.6530118461829777, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.025 ], "objective": 1.814762886626469, "mutual_information": 1.814762886626469, "normalized_mutual_information": 0.6514199063341722, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.025 ], "objective": 1.7949990633608877, "mutual_information": 1.7949990633608877, "normalized_mutual_information": 0.6459242527024682, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.025 ], "objective": 1.7957717480710353, "mutual_information": 1.7957717480710353, "normalized_mutual_information": 0.6452036231235577, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8189901146987981, "mutual_information": 1.8189901146987981, "normalized_mutual_information": 0.6536569472408696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.8169929860343708, "mutual_information": 1.8169929860343708, "normalized_mutual_information": 0.6536774992209042, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.21875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8033553212405895, "mutual_information": 1.8033553212405895, "normalized_mutual_information": 0.6480680169366639, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.28125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8125558098067807, "mutual_information": 1.8125558098067807, "normalized_mutual_information": 0.6519717369696553, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.25, -0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.815227224370253, "mutual_information": 1.815227224370253, "normalized_mutual_information": 0.6525855630745224, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.25, 0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8153669304711018, "mutual_information": 1.8153669304711018, "normalized_mutual_information": 0.6522029498909493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8198209306160456, "mutual_information": 1.8198209306160456, "normalized_mutual_information": 0.6543622777957446, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025 ], "objective": 1.8209677265949484, "mutual_information": 1.8209677265949484, "normalized_mutual_information": 0.6539480570702788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.025 ], "objective": 1.8122329091777625, "mutual_information": 1.8122329091777625, "normalized_mutual_information": 0.6527132740732319, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.025 ], "objective": 1.820777256422728, "mutual_information": 1.820777256422728, "normalized_mutual_information": 0.6537837749483508, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.025 ], "objective": 1.8116579790830556, "mutual_information": 1.8116579790830556, "normalized_mutual_information": 0.6516082687831285, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.025 ], "objective": 1.8068213358442797, "mutual_information": 1.8068213358442797, "normalized_mutual_information": 0.6492566610166538, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8301516107211828, "mutual_information": 1.8301516107211828, "normalized_mutual_information": 0.6570345666176439, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0125 ], "objective": 1.820053326724702, "mutual_information": 1.820053326724702, "normalized_mutual_information": 0.653819072979682, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.21875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.808072980837353, "mutual_information": 1.808072980837353, "normalized_mutual_information": 0.6492939137172545, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.28125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.824609083615453, "mutual_information": 1.824609083615453, "normalized_mutual_information": 0.6557466820820973, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.25, -0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.812564232028641, "mutual_information": 1.812564232028641, "normalized_mutual_information": 0.6513489094798072, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.25, 0.03125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8151656632051463, "mutual_information": 1.8151656632051463, "normalized_mutual_information": 0.6515503631015108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8281642506103932, "mutual_information": 1.8281642506103932, "normalized_mutual_information": 0.6567389107920799, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.824923033196513, "mutual_information": 1.824923033196513, "normalized_mutual_information": 0.6550860022942706, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.037500000000000006 ], "objective": 1.8124631239898743, "mutual_information": 1.8124631239898743, "normalized_mutual_information": 0.6520692987185592, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.037500000000000006 ], "objective": 1.8193600968115557, "mutual_information": 1.8193600968115557, "normalized_mutual_information": 0.652708912649651, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.037500000000000006 ], "objective": 1.8171823056422085, "mutual_information": 1.8171823056422085, "normalized_mutual_information": 0.6534553782852343, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.037500000000000006 ], "objective": 1.8011666975241212, "mutual_information": 1.8011666975241212, "normalized_mutual_information": 0.6466117152743466, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.8189901146987981, "mutual_information": 1.8189901146987981, "normalized_mutual_information": 0.6536569472408696, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.025000000000000005 ], "objective": 1.8192599650871937, "mutual_information": 1.8192599650871937, "normalized_mutual_information": 0.6532893578988904, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.234375, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8255362523733905, "mutual_information": 1.8255362523733905, "normalized_mutual_information": 0.6554587744645336, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.265625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8279503790854976, "mutual_information": 1.8279503790854976, "normalized_mutual_information": 0.6570988402689139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.25, -0.015625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8182965692546544, "mutual_information": 1.8182965692546544, "normalized_mutual_information": 0.6537524533893887, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.25, 0.015625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8238715458228352, "mutual_information": 1.8238715458228352, "normalized_mutual_information": 0.6544567011246564, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.015625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8274562202123235, "mutual_information": 1.8274562202123235, "normalized_mutual_information": 0.6564568688724007, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.015625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8284869098966645, "mutual_information": 1.8284869098966645, "normalized_mutual_information": 0.6564860809746452, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.037500000000000006 ], "objective": 1.8198063725645588, "mutual_information": 1.8198063725645588, "normalized_mutual_information": 0.6536553321060845, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.037500000000000006 ], "objective": 1.8250830244961438, "mutual_information": 1.8250830244961438, "normalized_mutual_information": 0.6553952813954352, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.8309412727878778, "mutual_information": 1.8309412727878778, "normalized_mutual_information": 0.6586969081497681, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.037500000000000006 ], "objective": 1.822547605420566, "mutual_information": 1.822547605420566, "normalized_mutual_information": 0.6537632525912432, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.043750000000000004 ], "objective": 1.822132767470831, "mutual_information": 1.822132767470831, "normalized_mutual_information": 0.6548301310125706, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.03125000000000001 ], "objective": 1.825774973042858, "mutual_information": 1.825774973042858, "normalized_mutual_information": 0.655748658265999, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.234375, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.827347772460577, "mutual_information": 1.827347772460577, "normalized_mutual_information": 0.6564633593236779, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.265625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.8192923899202953, "mutual_information": 1.8192923899202953, "normalized_mutual_information": 0.6546088265577228, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.25, -0.015625, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.81934542700501, "mutual_information": 1.81934542700501, "normalized_mutual_information": 0.6557807839097621, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.25, 0.015625, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.8212601941375623, "mutual_information": 1.8212601941375623, "normalized_mutual_information": 0.654979105006088, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.830182297277334, "mutual_information": 1.830182297277334, "normalized_mutual_information": 0.6582517395616968, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.015625 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.037500000000000006 ], "objective": 1.8285273845554098, "mutual_information": 1.8285273845554098, "normalized_mutual_information": 0.657792162502779, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.00625, -0.00625, -0.037500000000000006 ], "objective": 1.8208572241203267, "mutual_information": 1.8208572241203267, "normalized_mutual_information": 0.6555762659157147, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.00625, -0.00625, -0.037500000000000006 ], "objective": 1.8240306613382369, "mutual_information": 1.8240306613382369, "normalized_mutual_information": 0.6562449440914779, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.037500000000000006 ], "objective": 1.8171823056422085, "mutual_information": 1.8171823056422085, "normalized_mutual_information": 0.6534553782852343, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.037500000000000006 ], "objective": 1.8301516107211828, "mutual_information": 1.8301516107211828, "normalized_mutual_information": 0.6570345666176439, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.043750000000000004 ], "objective": 1.8223043446648866, "mutual_information": 1.8223043446648866, "normalized_mutual_information": 0.6566336462741673, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.03125000000000001 ], "objective": 1.826014467914548, "mutual_information": 1.826014467914548, "normalized_mutual_information": 0.6571334317918214, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 0.25000000000001277, "translation_m": 0.038017265814363856, "recovered": true }, "mi_seconds": 0.2626045439974405, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.319733055033181, "translation_m": 0.3382995771785656, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4271342999897962, "archived_cost": 1035.9524519745087, "common_supported": 1357, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1107.7817104405965, "supported_cost": 128.49466947910457, "signed_quantiles_m": [ -27.945661499133266, -2.608540380713476, -0.05091745213311505, 0.5842581652713076, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29243353783231085, "common_support_cost": 114.00675654573226 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1092.3068145244515, "supported_cost": 113.01977356295973, "signed_quantiles_m": [ -27.51852719914347, -2.1814060807236797, 0.37621684785668114, 1.011392465261104, 43.6911579154588 ], "negative_fraction": 0.3040218132242672, "absolute_over_1m_fraction": 0.2767552828902522, "common_support_cost": 100.01126745409302 }, "fit_zero": { "total": 12288, "supported": 1583, "cost": 1054.254172398043, "supported_cost": 85.46498715705141, "signed_quantiles_m": [ -32.856447194889114, -1.2712342928592875, -0.05546594108477265, 5.553147231637647, 43.520774075333215 ], "negative_fraction": 0.5198989260897031, "absolute_over_1m_fraction": 0.3986102337334176, "common_support_cost": 66.7403155462716 }, "fit_fitted_bias": { "total": 12288, "supported": 1583, "cost": 1035.9524519745087, "supported_cost": 67.16326673351719, "signed_quantiles_m": [ -32.42931289489932, -0.8440999928694911, 0.37166835890502353, 5.980281531627443, 43.94790837532301 ], "negative_fraction": 0.19772583701831964, "absolute_over_1m_fraction": 0.4295641187618446, "common_support_cost": 53.26451706707232 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.4728533506164538, "translation_m": 0.23988932781191377, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.36992423673556196, "archived_cost": 1052.8932944113835, "common_supported": 1389, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 115.69108246670798 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1094.5246321528434, "supported_cost": 115.23759119135158, "signed_quantiles_m": [ -28.585135591746635, -2.1691131070956806, 0.31899092693953257, 0.9590322169958164, 43.63394785220457 ], "negative_fraction": 0.31901840490797545, "absolute_over_1m_fraction": 0.27880027266530333, "common_support_cost": 102.37888436565714 }, "fit_zero": { "total": 12288, "supported": 1596, "cost": 1080.606112101485, "supported_cost": 112.9934106912391, "signed_quantiles_m": [ -43.208985137281715, -1.829916562472972, -0.30281599666829484, 1.6081691507070355, 42.822602679344755 ], "negative_fraction": 0.7550125313283208, "absolute_over_1m_fraction": 0.29448621553884713, "common_support_cost": 94.91688067815312 }, "fit_fitted_bias": { "total": 12288, "supported": 1596, "cost": 1052.8932944113835, "supported_cost": 85.28059300113766, "signed_quantiles_m": [ -42.83906090054615, -1.4599923257374101, 0.06710824006726712, 1.9780933874425974, 43.19252691608032 ], "negative_fraction": 0.34774436090225563, "absolute_over_1m_fraction": 0.2869674185463659, "common_support_cost": 71.14906184412774 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 0.4728533506164538, "translation_m": 0.23988932781191377, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.499999475660355, "archived_cost": 1051.0115714635613, "common_supported": 1389, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 115.69108246670798 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1090.2437631472185, "supported_cost": 110.95672218572653, "signed_quantiles_m": [ -28.455060352821842, -2.0390378681708876, 0.44906616586432563, 1.0891074559206095, 43.76402309112936 ], "negative_fraction": 0.29243353783231085, "absolute_over_1m_fraction": 0.28561690524880706, "common_support_cost": 98.26571979752441 }, "fit_zero": { "total": 12288, "supported": 1596, "cost": 1080.606112101485, "supported_cost": 112.9934106912391, "signed_quantiles_m": [ -43.208985137281715, -1.829916562472972, -0.30281599666829484, 1.6081691507070355, 42.822602679344755 ], "negative_fraction": 0.7550125313283208, "absolute_over_1m_fraction": 0.29448621553884713, "common_support_cost": 94.91688067815312 }, "fit_fitted_bias": { "total": 12288, "supported": 1596, "cost": 1051.0115714635613, "supported_cost": 83.39887005331533, "signed_quantiles_m": [ -42.70898566162136, -1.329917086812617, 0.19718347899206018, 2.1081686263673904, 43.32260215500511 ], "negative_fraction": 0.24561403508771928, "absolute_over_1m_fraction": 0.28383458646616544, "common_support_cost": 69.2338125916983 } } } ] }, { "case_id": "2011_09_26_0015-negative", "start": "negative", "mi_result": { "method": "bounded_se3_pattern_search/v0.1", "primary_source": "https://arxiv.org/abs/2311.01905", "status": "converged", "initial_transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.3193869124058732 ], "rotation_quat_xyzw": [ 0.4925831399386632, -0.49327649462345813, 0.4977114921133187, 0.5160653260184167 ] }, "transform_camera_lidar": { "translation_m": [ -0.04294755214046961, -0.02546671853346001, -0.40688691240587316 ], "rotation_quat_xyzw": [ 0.4958145022482054, -0.49665634948971776, 0.49419489036338027, 0.5131002438224312 ] }, "best_delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "best_delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "initial_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.5937028532655055, "normalized_mutual_information": 0.5859750689608002, "visible_point_count": 1377, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.594092006390749, "normalized_mutual_information": 0.5835541002082114, "visible_point_count": 481, "projected_count_before_visibility": 583 }, { "frame_id": "frame-148", "mutual_information": 1.485877808547051, "normalized_mutual_information": 0.5652702490350525, "visible_point_count": 453, "projected_count_before_visibility": 578 }, { "frame_id": "frame-222", "mutual_information": 1.7011387448587163, "normalized_mutual_information": 0.6091008576391367, "visible_point_count": 443, "projected_count_before_visibility": 529 } ] }, "final_evaluation": { "method": "borer_depth_to_depth_mutual_information/v0.2", "primary_source": "https://arxiv.org/abs/2311.01905", "mutual_information": 1.7706432685362756, "normalized_mutual_information": 0.6382482765683751, "visible_point_count": 1431, "evaluated_frame_count": 3, "skipped_frame_ids": [], "frames": [ { "frame_id": "frame-74", "mutual_information": 1.724936134681072, "normalized_mutual_information": 0.6267943059930876, "visible_point_count": 496, "projected_count_before_visibility": 596 }, { "frame_id": "frame-148", "mutual_information": 1.7254600905305018, "normalized_mutual_information": 0.6370576028311123, "visible_point_count": 477, "projected_count_before_visibility": 587 }, { "frame_id": "frame-222", "mutual_information": 1.8615335803972535, "normalized_mutual_information": 0.6508929208809252, "visible_point_count": 458, "projected_count_before_visibility": 543 } ] }, "trace": [ { "evaluation": 1, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5937028532655055, "mutual_information": 1.5937028532655055, "normalized_mutual_information": 0.5859750689608002, "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": 1.5439536204045499, "mutual_information": 1.5439536204045499, "normalized_mutual_information": 0.5717211189580224, "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": 1.6394453584123685, "mutual_information": 1.6394453584123685, "normalized_mutual_information": 0.6003010931460594, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 4, "delta_rotation_deg_xyz": [ 0.0, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.59462435807328, "mutual_information": 1.59462435807328, "normalized_mutual_information": 0.5854925159244335, "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": 1.5868050550401696, "mutual_information": 1.5868050550401696, "normalized_mutual_information": 0.5814712777369812, "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": 1.583622709079796, "mutual_information": 1.583622709079796, "normalized_mutual_information": 0.5815269822990677, "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": 1.574397168000763, "mutual_information": 1.574397168000763, "normalized_mutual_information": 0.5811781380956866, "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": 1.594908862083671, "mutual_information": 1.594908862083671, "normalized_mutual_information": 0.5874614054545959, "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": 1.5934476923940963, "mutual_information": 1.5934476923940963, "normalized_mutual_information": 0.5856077340654688, "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": 1.6204710867024736, "mutual_information": 1.6204710867024736, "normalized_mutual_information": 0.5968661557071216, "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": 1.5660136498546564, "mutual_information": 1.5660136498546564, "normalized_mutual_information": 0.5752255879160316, "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": 1.5898458012375087, "mutual_information": 1.5898458012375087, "normalized_mutual_information": 0.5853353196280059, "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": 1.5782608308279382, "mutual_information": 1.5782608308279382, "normalized_mutual_information": 0.5811814285510407, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 14, "delta_rotation_deg_xyz": [ 0.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.5937028532655055, "mutual_information": 1.5937028532655055, "normalized_mutual_information": 0.5859750689608002, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 15, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6971739266773829, "mutual_information": 1.6971739266773829, "normalized_mutual_information": 0.6163645395314895, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 16, "delta_rotation_deg_xyz": [ 0.25, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.63709436492162, "mutual_information": 1.63709436492162, "normalized_mutual_information": 0.599182020391398, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 17, "delta_rotation_deg_xyz": [ 0.25, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6267353608339452, "mutual_information": 1.6267353608339452, "normalized_mutual_information": 0.5934567392144848, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 18, "delta_rotation_deg_xyz": [ 0.25, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6337542836460237, "mutual_information": 1.6337542836460237, "normalized_mutual_information": 0.599108613436994, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 19, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6291590891959757, "mutual_information": 1.6291590891959757, "normalized_mutual_information": 0.5961909541839142, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 20, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.6575696674975104, "mutual_information": 1.6575696674975104, "normalized_mutual_information": 0.6062757068304331, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 21, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.6458735917748897, "mutual_information": 1.6458735917748897, "normalized_mutual_information": 0.5998913982845856, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 22, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.6597910438259504, "mutual_information": 1.6597910438259504, "normalized_mutual_information": 0.6099952415913178, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 23, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6007226951687166, "mutual_information": 1.6007226951687166, "normalized_mutual_information": 0.5849915079649943, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 24, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.6286121329592305, "mutual_information": 1.6286121329592305, "normalized_mutual_information": 0.5949558118372624, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 25, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.647553738450104, "mutual_information": 1.647553738450104, "normalized_mutual_information": 0.6041193319331574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 26, "delta_rotation_deg_xyz": [ 0.25, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6394453584123685, "mutual_information": 1.6394453584123685, "normalized_mutual_information": 0.6003010931460594, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 27, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7481225237500315, "mutual_information": 1.7481225237500315, "normalized_mutual_information": 0.6319601405039806, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 28, "delta_rotation_deg_xyz": [ 0.5, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.689253916972964, "mutual_information": 1.689253916972964, "normalized_mutual_information": 0.6127295162856394, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 29, "delta_rotation_deg_xyz": [ 0.5, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.674455402090634, "mutual_information": 1.674455402090634, "normalized_mutual_information": 0.608494786913865, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 30, "delta_rotation_deg_xyz": [ 0.5, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6990645612271014, "mutual_information": 1.6990645612271014, "normalized_mutual_information": 0.617311374184636, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 31, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6830219836933293, "mutual_information": 1.6830219836933293, "normalized_mutual_information": 0.6124043133636725, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 32, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.6945481217776734, "mutual_information": 1.6945481217776734, "normalized_mutual_information": 0.6137394433922739, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 33, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.7104241938604812, "mutual_information": 1.7104241938604812, "normalized_mutual_information": 0.621060003358738, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 34, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.711773965541094, "mutual_information": 1.711773965541094, "normalized_mutual_information": 0.6234911443128417, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 35, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.6620355554902482, "mutual_information": 1.6620355554902482, "normalized_mutual_information": 0.6046087175558061, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 36, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.690041568383883, "mutual_information": 1.690041568383883, "normalized_mutual_information": 0.6142419113459084, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 37, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.6925733183420564, "mutual_information": 1.6925733183420564, "normalized_mutual_information": 0.6163093975718268, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 38, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.6971739266773829, "mutual_information": 1.6971739266773829, "normalized_mutual_information": 0.6163645395314895, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 39, "delta_rotation_deg_xyz": [ 1.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7358557207293874, "mutual_information": 1.7358557207293874, "normalized_mutual_information": 0.6268661507451408, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 40, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7292435189822324, "mutual_information": 1.7292435189822324, "normalized_mutual_information": 0.6236004434420467, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 41, "delta_rotation_deg_xyz": [ 0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7347393036933998, "mutual_information": 1.7347393036933998, "normalized_mutual_information": 0.6249836814971045, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 42, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7392051214390234, "mutual_information": 1.7392051214390234, "normalized_mutual_information": 0.6283702848488506, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 43, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7208811205078867, "mutual_information": 1.7208811205078867, "normalized_mutual_information": 0.6204447988952172, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 44, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, 0.0 ], "objective": 1.7376240461267833, "mutual_information": 1.7376240461267833, "normalized_mutual_information": 0.6285856729105918, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 45, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, 0.0 ], "objective": 1.75345555444248, "mutual_information": 1.75345555444248, "normalized_mutual_information": 0.6314091850296625, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 46, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, 0.0 ], "objective": 1.725926102912786, "mutual_information": 1.725926102912786, "normalized_mutual_information": 0.6259601645704574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 47, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, 0.0 ], "objective": 1.7502666419099544, "mutual_information": 1.7502666419099544, "normalized_mutual_information": 0.6284126657450034, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 48, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.762898845004905, "mutual_information": 1.762898845004905, "normalized_mutual_information": 0.6359807331153129, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 49, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.1 ], "objective": 1.7360066513150898, "mutual_information": 1.7360066513150898, "normalized_mutual_information": 0.6267777065406744, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 50, "delta_rotation_deg_xyz": [ 0.5, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.690041568383883, "mutual_information": 1.690041568383883, "normalized_mutual_information": 0.6142419113459084, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 51, "delta_rotation_deg_xyz": [ 1.0, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7284414337929588, "mutual_information": 1.7284414337929588, "normalized_mutual_information": 0.620742941174944, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 52, "delta_rotation_deg_xyz": [ 0.75, -0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7420557234018108, "mutual_information": 1.7420557234018108, "normalized_mutual_information": 0.6263898767670161, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 53, "delta_rotation_deg_xyz": [ 0.75, 0.25, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7333173950825753, "mutual_information": 1.7333173950825753, "normalized_mutual_information": 0.6232008739347169, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 54, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7473567639087113, "mutual_information": 1.7473567639087113, "normalized_mutual_information": 0.6317843281051775, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 55, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.25 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7247698591012444, "mutual_information": 1.7247698591012444, "normalized_mutual_information": 0.6205211185492674, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 56, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.1, 0.0, -0.1 ], "objective": 1.7465060249836126, "mutual_information": 1.7465060249836126, "normalized_mutual_information": 0.6298047051033108, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 57, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.1, 0.0, -0.1 ], "objective": 1.7436941549084084, "mutual_information": 1.7436941549084084, "normalized_mutual_information": 0.6287472123514841, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 58, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.1, -0.1 ], "objective": 1.7195704767144484, "mutual_information": 1.7195704767144484, "normalized_mutual_information": 0.6221438273936667, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 59, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.1, -0.1 ], "objective": 1.733126139187158, "mutual_information": 1.733126139187158, "normalized_mutual_information": 0.6226385747655111, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 60, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.2 ], "objective": 1.741756100586196, "mutual_information": 1.741756100586196, "normalized_mutual_information": 0.628529198336614, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 61, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, 0.0 ], "objective": 1.7481225237500315, "mutual_information": 1.7481225237500315, "normalized_mutual_information": 0.6319601405039806, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 62, "delta_rotation_deg_xyz": [ 0.625, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7263346367698056, "mutual_information": 1.7263346367698056, "normalized_mutual_information": 0.6247851362592333, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 63, "delta_rotation_deg_xyz": [ 0.875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7245527238013854, "mutual_information": 1.7245527238013854, "normalized_mutual_information": 0.6232164506049628, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 64, "delta_rotation_deg_xyz": [ 0.75, -0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7438097545337523, "mutual_information": 1.7438097545337523, "normalized_mutual_information": 0.6292089342547131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 65, "delta_rotation_deg_xyz": [ 0.75, 0.125, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7389301543328877, "mutual_information": 1.7389301543328877, "normalized_mutual_information": 0.6280237136271075, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 66, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7525019353200506, "mutual_information": 1.7525019353200506, "normalized_mutual_information": 0.6322638578069139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 67, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7228782250835384, "mutual_information": 1.7228782250835384, "normalized_mutual_information": 0.6226077894835785, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 68, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.05, 0.0, -0.1 ], "objective": 1.7434311326151957, "mutual_information": 1.7434311326151957, "normalized_mutual_information": 0.6286343502818942, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 69, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.05, 0.0, -0.1 ], "objective": 1.7557764289151034, "mutual_information": 1.7557764289151034, "normalized_mutual_information": 0.6327044321617185, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 70, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.05, -0.1 ], "objective": 1.7224869774588258, "mutual_information": 1.7224869774588258, "normalized_mutual_information": 0.6224305974362346, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 71, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.05, -0.1 ], "objective": 1.7397112857220165, "mutual_information": 1.7397112857220165, "normalized_mutual_information": 0.6268455285873401, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 72, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.15000000000000002 ], "objective": 1.7459256269007362, "mutual_information": 1.7459256269007362, "normalized_mutual_information": 0.6302933259640092, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 73, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.05 ], "objective": 1.7453276135325737, "mutual_information": 1.7453276135325737, "normalized_mutual_information": 0.6306877024342367, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 74, "delta_rotation_deg_xyz": [ 0.6875, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7408182546450963, "mutual_information": 1.7408182546450963, "normalized_mutual_information": 0.628419456322087, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 75, "delta_rotation_deg_xyz": [ 0.8125, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7362256064815382, "mutual_information": 1.7362256064815382, "normalized_mutual_information": 0.6270582518199527, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 76, "delta_rotation_deg_xyz": [ 0.75, -0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7431099907680256, "mutual_information": 1.7431099907680256, "normalized_mutual_information": 0.6287110460901002, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 77, "delta_rotation_deg_xyz": [ 0.75, 0.0625, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.752108485372885, "mutual_information": 1.752108485372885, "normalized_mutual_information": 0.6315322674713112, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 78, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7647212729388233, "mutual_information": 1.7647212729388233, "normalized_mutual_information": 0.6373220257294824, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 79, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7455864765419735, "mutual_information": 1.7455864765419735, "normalized_mutual_information": 0.6295923873651827, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 80, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.1 ], "objective": 1.7467821855194223, "mutual_information": 1.7467821855194223, "normalized_mutual_information": 0.6303676848713898, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 81, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.1 ], "objective": 1.7643748566605313, "mutual_information": 1.7643748566605313, "normalized_mutual_information": 0.6357484883919389, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 82, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.1 ], "objective": 1.726539258534861, "mutual_information": 1.726539258534861, "normalized_mutual_information": 0.6241057946914715, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 83, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.1 ], "objective": 1.750830471409909, "mutual_information": 1.750830471409909, "normalized_mutual_information": 0.6328503345227948, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 84, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.125 ], "objective": 1.7509875119382652, "mutual_information": 1.7509875119382652, "normalized_mutual_information": 0.6311738292377059, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 85, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.07500000000000001 ], "objective": 1.7538143582825363, "mutual_information": 1.7538143582825363, "normalized_mutual_information": 0.63280467077484, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 86, "delta_rotation_deg_xyz": [ 0.6875, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7532353688607836, "mutual_information": 1.7532353688607836, "normalized_mutual_information": 0.6329467780270167, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 87, "delta_rotation_deg_xyz": [ 0.8125, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7261801436193407, "mutual_information": 1.7261801436193407, "normalized_mutual_information": 0.6240328059548782, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 88, "delta_rotation_deg_xyz": [ 0.75, -0.0625, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.757829793450932, "mutual_information": 1.757829793450932, "normalized_mutual_information": 0.6338848511311163, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 89, "delta_rotation_deg_xyz": [ 0.75, 0.0625, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.753498295334407, "mutual_information": 1.753498295334407, "normalized_mutual_information": 0.632588403162584, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 90, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7525019353200506, "mutual_information": 1.7525019353200506, "normalized_mutual_information": 0.6322638578069139, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 91, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.762898845004905, "mutual_information": 1.762898845004905, "normalized_mutual_information": 0.6359807331153129, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 92, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ -0.025, 0.0, -0.1 ], "objective": 1.7574622801546742, "mutual_information": 1.7574622801546742, "normalized_mutual_information": 0.6335713801801756, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 93, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.025, 0.0, -0.1 ], "objective": 1.7646710321317103, "mutual_information": 1.7646710321317103, "normalized_mutual_information": 0.6368935320519205, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 94, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, -0.025, -0.1 ], "objective": 1.7379124789523612, "mutual_information": 1.7379124789523612, "normalized_mutual_information": 0.6273275573449782, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 95, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.025, -0.1 ], "objective": 1.7482088479845803, "mutual_information": 1.7482088479845803, "normalized_mutual_information": 0.6305048929186724, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 96, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.125 ], "objective": 1.7517634373802864, "mutual_information": 1.7517634373802864, "normalized_mutual_information": 0.6320307234942248, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 97, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.07500000000000001 ], "objective": 1.7576329490812117, "mutual_information": 1.7576329490812117, "normalized_mutual_information": 0.6348886732859759, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 98, "delta_rotation_deg_xyz": [ 0.71875, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7501595281545415, "mutual_information": 1.7501595281545415, "normalized_mutual_information": 0.6309877818445574, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 99, "delta_rotation_deg_xyz": [ 0.78125, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.749909323662487, "mutual_information": 1.749909323662487, "normalized_mutual_information": 0.63191349734503, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 100, "delta_rotation_deg_xyz": [ 0.75, -0.03125, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7596922564252642, "mutual_information": 1.7596922564252642, "normalized_mutual_information": 0.6356583041179308, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 101, "delta_rotation_deg_xyz": [ 0.75, 0.03125, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7576235797143465, "mutual_information": 1.7576235797143465, "normalized_mutual_information": 0.6331336451519245, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 102, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.09375 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7501381328245715, "mutual_information": 1.7501381328245715, "normalized_mutual_information": 0.6322324591461482, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 103, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7659030342360609, "mutual_information": 1.7659030342360609, "normalized_mutual_information": 0.6367184563317726, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 104, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.1 ], "objective": 1.7533441381141917, "mutual_information": 1.7533441381141917, "normalized_mutual_information": 0.6332660097011855, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 105, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.1 ], "objective": 1.7591218788412675, "mutual_information": 1.7591218788412675, "normalized_mutual_information": 0.6348791033885716, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 106, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.1 ], "objective": 1.747162501438144, "mutual_information": 1.747162501438144, "normalized_mutual_information": 0.6316998565901533, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 107, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.1 ], "objective": 1.750271173451912, "mutual_information": 1.750271173451912, "normalized_mutual_information": 0.6318438914218847, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 108, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1125 ], "objective": 1.7554466133649498, "mutual_information": 1.7554466133649498, "normalized_mutual_information": 0.6336670568002298, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 109, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.08750000000000001 ], "objective": 1.760407117102415, "mutual_information": 1.760407117102415, "normalized_mutual_information": 0.6359067472284831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 110, "delta_rotation_deg_xyz": [ 0.71875, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7533597428694538, "mutual_information": 1.7533597428694538, "normalized_mutual_information": 0.632101071666332, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 111, "delta_rotation_deg_xyz": [ 0.78125, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7457358683129793, "mutual_information": 1.7457358683129793, "normalized_mutual_information": 0.630933133604822, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 112, "delta_rotation_deg_xyz": [ 0.75, -0.03125, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7572568858298883, "mutual_information": 1.7572568858298883, "normalized_mutual_information": 0.633637700308749, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 113, "delta_rotation_deg_xyz": [ 0.75, 0.03125, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.759090320934406, "mutual_information": 1.759090320934406, "normalized_mutual_information": 0.6332512131753566, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 114, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7647212729388233, "mutual_information": 1.7647212729388233, "normalized_mutual_information": 0.6373220257294824, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 115, "delta_rotation_deg_xyz": [ 0.75, 0.0, 0.0 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.762898845004905, "mutual_information": 1.762898845004905, "normalized_mutual_information": 0.6359807331153129, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 116, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ -0.0125, 0.0, -0.1 ], "objective": 1.750379876230881, "mutual_information": 1.750379876230881, "normalized_mutual_information": 0.630807298424069, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 117, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0125, 0.0, -0.1 ], "objective": 1.7583039351478338, "mutual_information": 1.7583039351478338, "normalized_mutual_information": 0.6334010859307843, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 118, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, -0.0125, -0.1 ], "objective": 1.7475619888943594, "mutual_information": 1.7475619888943594, "normalized_mutual_information": 0.6322478918263191, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 119, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0125, -0.1 ], "objective": 1.7542883620843905, "mutual_information": 1.7542883620843905, "normalized_mutual_information": 0.6333347912526449, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 120, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1125 ], "objective": 1.7573249938514424, "mutual_information": 1.7573249938514424, "normalized_mutual_information": 0.6337656527358191, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 121, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.08750000000000001 ], "objective": 1.7625430980004857, "mutual_information": 1.7625430980004857, "normalized_mutual_information": 0.6358206381500655, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 122, "delta_rotation_deg_xyz": [ 0.734375, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7631906405532625, "mutual_information": 1.7631906405532625, "normalized_mutual_information": 0.6353444312096345, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 123, "delta_rotation_deg_xyz": [ 0.765625, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7625699929414491, "mutual_information": 1.7625699929414491, "normalized_mutual_information": 0.6365934203265229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 124, "delta_rotation_deg_xyz": [ 0.75, -0.015625, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.761111647138076, "mutual_information": 1.761111647138076, "normalized_mutual_information": 0.6340235172332979, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 125, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7607184380204124, "mutual_information": 1.7607184380204124, "normalized_mutual_information": 0.6338397073968229, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 126, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7683897597652194, "mutual_information": 1.7683897597652194, "normalized_mutual_information": 0.6373874075890766, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 127, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.015625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.765717212373789, "mutual_information": 1.765717212373789, "normalized_mutual_information": 0.636887127365811, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 128, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.1 ], "objective": 1.758386750860968, "mutual_information": 1.758386750860968, "normalized_mutual_information": 0.6334752177913576, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 129, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.1 ], "objective": 1.7567455936262613, "mutual_information": 1.7567455936262613, "normalized_mutual_information": 0.6331146111011277, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 130, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.1 ], "objective": 1.7616862875980388, "mutual_information": 1.7616862875980388, "normalized_mutual_information": 0.636212327789989, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 131, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.1 ], "objective": 1.7592361177685032, "mutual_information": 1.7592361177685032, "normalized_mutual_information": 0.6344568245091678, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 132, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.10625000000000001 ], "objective": 1.758255065544312, "mutual_information": 1.758255065544312, "normalized_mutual_information": 0.6337993541875565, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 133, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7672286060855906, "mutual_information": 1.7672286060855906, "normalized_mutual_information": 0.6369969094242545, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 134, "delta_rotation_deg_xyz": [ 0.734375, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7617465341021983, "mutual_information": 1.7617465341021983, "normalized_mutual_information": 0.6355637332775972, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 135, "delta_rotation_deg_xyz": [ 0.765625, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7600172928786595, "mutual_information": 1.7600172928786595, "normalized_mutual_information": 0.635946020507839, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 136, "delta_rotation_deg_xyz": [ 0.75, -0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7653641555203212, "mutual_information": 1.7653641555203212, "normalized_mutual_information": 0.6356333688344648, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 137, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7622302418227, "mutual_information": 1.7622302418227, "normalized_mutual_information": 0.6342017320846788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 138, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7647212729388233, "mutual_information": 1.7647212729388233, "normalized_mutual_information": 0.6373220257294824, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 139, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7659030342360609, "mutual_information": 1.7659030342360609, "normalized_mutual_information": 0.6367184563317726, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 140, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.1 ], "objective": 1.7619168024790464, "mutual_information": 1.7619168024790464, "normalized_mutual_information": 0.6346398906680156, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 141, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.1 ], "objective": 1.758235021679744, "mutual_information": 1.758235021679744, "normalized_mutual_information": 0.633362495036839, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 142, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.1 ], "objective": 1.7578049980658994, "mutual_information": 1.7578049980658994, "normalized_mutual_information": 0.6352728423296737, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 143, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.1 ], "objective": 1.7609471449640894, "mutual_information": 1.7609471449640894, "normalized_mutual_information": 0.6349292844974718, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 144, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.10625000000000001 ], "objective": 1.7611356991630982, "mutual_information": 1.7611356991630982, "normalized_mutual_information": 0.6346289085989093, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 145, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7698389741701461, "mutual_information": 1.7698389741701461, "normalized_mutual_information": 0.638019034695203, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 146, "delta_rotation_deg_xyz": [ 0.734375, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7578998262987044, "mutual_information": 1.7578998262987044, "normalized_mutual_information": 0.6335332371858436, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 147, "delta_rotation_deg_xyz": [ 0.765625, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7576151085152347, "mutual_information": 1.7576151085152347, "normalized_mutual_information": 0.6350742725938265, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 148, "delta_rotation_deg_xyz": [ 0.75, -0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7634560854456627, "mutual_information": 1.7634560854456627, "normalized_mutual_information": 0.6356731382772328, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 149, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7705642707438247, "mutual_information": 1.7705642707438247, "normalized_mutual_information": 0.6376689754763808, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 150, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7632804845426833, "mutual_information": 1.7632804845426833, "normalized_mutual_information": 0.6368798437468551, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 151, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7672286060855906, "mutual_information": 1.7672286060855906, "normalized_mutual_information": 0.6369969094242545, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 152, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.09375 ], "objective": 1.7630074376432627, "mutual_information": 1.7630074376432627, "normalized_mutual_information": 0.6355385838993087, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 153, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.09375 ], "objective": 1.7645170446377827, "mutual_information": 1.7645170446377827, "normalized_mutual_information": 0.6356936282921691, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 154, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.09375 ], "objective": 1.756770660236099, "mutual_information": 1.756770660236099, "normalized_mutual_information": 0.6353209752938672, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 155, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.09375 ], "objective": 1.756146157149238, "mutual_information": 1.756146157149238, "normalized_mutual_information": 0.632883800395604, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 156, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7683897597652194, "mutual_information": 1.7683897597652194, "normalized_mutual_information": 0.6373874075890766, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 157, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7649342593381745, "mutual_information": 1.7649342593381745, "normalized_mutual_information": 0.6368359274593719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 158, "delta_rotation_deg_xyz": [ 0.734375, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7593745807427965, "mutual_information": 1.7593745807427965, "normalized_mutual_information": 0.6333785162610418, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 159, "delta_rotation_deg_xyz": [ 0.765625, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7560388794993482, "mutual_information": 1.7560388794993482, "normalized_mutual_information": 0.6340936116166752, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 160, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7698389741701461, "mutual_information": 1.7698389741701461, "normalized_mutual_information": 0.638019034695203, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 161, "delta_rotation_deg_xyz": [ 0.75, 0.03125, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7653118475794518, "mutual_information": 1.7653118475794518, "normalized_mutual_information": 0.635505578832912, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 162, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7636199682166216, "mutual_information": 1.7636199682166216, "normalized_mutual_information": 0.6359940453005631, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 163, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7689619582009328, "mutual_information": 1.7689619582009328, "normalized_mutual_information": 0.637116950892426, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 164, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.09375 ], "objective": 1.7671505126379152, "mutual_information": 1.7671505126379152, "normalized_mutual_information": 0.637025309642384, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 165, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.09375 ], "objective": 1.7661338758246872, "mutual_information": 1.7661338758246872, "normalized_mutual_information": 0.6355205498527976, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 166, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.09375 ], "objective": 1.7578074103900112, "mutual_information": 1.7578074103900112, "normalized_mutual_information": 0.6350802667698457, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 167, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.09375 ], "objective": 1.7606348179757265, "mutual_information": 1.7606348179757265, "normalized_mutual_information": 0.634001389931467, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 168, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.1 ], "objective": 1.7622302418227, "mutual_information": 1.7622302418227, "normalized_mutual_information": 0.6342017320846788, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 169, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7706432685362756, "mutual_information": 1.7706432685362756, "normalized_mutual_information": 0.6382482765683751, "evaluated_frame_count": 3, "accepted": true }, { "evaluation": 170, "delta_rotation_deg_xyz": [ 0.734375, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7614377133660526, "mutual_information": 1.7614377133660526, "normalized_mutual_information": 0.6341880608463131, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 171, "delta_rotation_deg_xyz": [ 0.765625, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7532944076160284, "mutual_information": 1.7532944076160284, "normalized_mutual_information": 0.6335206573371578, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 172, "delta_rotation_deg_xyz": [ 0.75, 0.0, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7649342593381745, "mutual_information": 1.7649342593381745, "normalized_mutual_information": 0.6368359274593719, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 173, "delta_rotation_deg_xyz": [ 0.75, 0.03125, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7670008671956048, "mutual_information": 1.7670008671956048, "normalized_mutual_information": 0.6368954550399172, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 174, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.0625 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7639476630599928, "mutual_information": 1.7639476630599928, "normalized_mutual_information": 0.6364629741378381, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 175, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.03125 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.0875 ], "objective": 1.7693004700468613, "mutual_information": 1.7693004700468613, "normalized_mutual_information": 0.6373180508441331, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 176, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ -0.00625, 0.0, -0.0875 ], "objective": 1.7665547312235148, "mutual_information": 1.7665547312235148, "normalized_mutual_information": 0.637506996282493, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 177, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.00625, 0.0, -0.0875 ], "objective": 1.7673659070140457, "mutual_information": 1.7673659070140457, "normalized_mutual_information": 0.6365445810148597, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 178, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, -0.00625, -0.0875 ], "objective": 1.7545700536464348, "mutual_information": 1.7545700536464348, "normalized_mutual_information": 0.6341971896314091, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 179, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.00625, -0.0875 ], "objective": 1.7594414946754462, "mutual_information": 1.7594414946754462, "normalized_mutual_information": 0.6335944196553831, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 180, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.09375 ], "objective": 1.7705642707438247, "mutual_information": 1.7705642707438247, "normalized_mutual_information": 0.6376689754763808, "evaluated_frame_count": 3, "accepted": false }, { "evaluation": 181, "delta_rotation_deg_xyz": [ 0.75, 0.015625, -0.046875 ], "delta_translation_m_xyz": [ 0.0, 0.0, -0.08124999999999999 ], "objective": 1.77036563506476, "mutual_information": 1.77036563506476, "normalized_mutual_information": 0.6380525250071393, "evaluated_frame_count": 3, "accepted": false } ], "evaluation_count": 181, "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" }, "mi_pose_metrics": { "valid_output": true, "rotation_deg": 1.1788425440333994, "translation_m": 0.17721808598447278, "recovered": false }, "mi_seconds": 0.4782438179827295, "metric_diagnostics": [ { "method": "bilinear", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.4691781865872626, "translation_m": 0.10177223867725574, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.1276396245631815, "archived_cost": 1070.3123608963854, "common_supported": 1292, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1107.7817104405965, "supported_cost": 128.49466947910457, "signed_quantiles_m": [ -27.945661499133266, -2.608540380713476, -0.05091745213311505, 0.5842581652713076, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29243353783231085, "common_support_cost": 114.76449851256763 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1102.2079446220907, "supported_cost": 122.92090366059898, "signed_quantiles_m": [ -27.818021874570086, -2.4809007561502945, 0.07672217243006646, 0.711897789834489, 43.39166324003219 ], "negative_fraction": 0.4274028629856851, "absolute_over_1m_fraction": 0.2876618950238582, "common_support_cost": 109.66998441754566 }, "fit_zero": { "total": 12288, "supported": 1423, "cost": 1072.3834504267984, "supported_cost": 89.11446419201336, "signed_quantiles_m": [ -43.076013380071714, -0.6801366067468029, 1.4674614435749262, 9.897198431999255, 51.010507912790416 ], "negative_fraction": 0.13703443429374562, "absolute_over_1m_fraction": 0.6669009135628953, "common_support_cost": 68.1167021247882 }, "fit_fitted_bias": { "total": 12288, "supported": 1423, "cost": 1070.3123608963856, "supported_cost": 87.04337466160061, "signed_quantiles_m": [ -42.948373755508534, -0.5524969821836214, 1.5951010681381077, 10.024838056562437, 51.138147537353596 ], "negative_fraction": 0.13070976809557272, "absolute_over_1m_fraction": 0.6929023190442727, "common_support_cost": 66.24777227712194 } } }, { "method": "edge", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.5028146021685955, "translation_m": 0.11114312842354379, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.06073784051213806, "archived_cost": 1082.3353958090556, "common_supported": 1223, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 112.30959483518721 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1105.3142667672118, "supported_cost": 126.02722580571991, "signed_quantiles_m": [ -28.89432198797006, -2.4782995033191044, 0.009804530716108671, 0.6498458207723925, 43.32476145598115 ], "negative_fraction": 0.49147920927062033, "absolute_over_1m_fraction": 0.2903885480572597, "common_support_cost": 109.61224844274992 }, "fit_zero": { "total": 12288, "supported": 1348, "cost": 1083.3844932355794, "supported_cost": 93.32810028495373, "signed_quantiles_m": [ -46.06187033379982, -0.7732946514248288, 1.736920486694797, 9.39459673334418, 47.74119625883285 ], "negative_fraction": 0.14317507418397626, "absolute_over_1m_fraction": 0.7603857566765578, "common_support_cost": 71.37464713152572 }, "fit_fitted_bias": { "total": 12288, "supported": 1348, "cost": 1082.3353958090556, "supported_cost": 92.27900285843018, "signed_quantiles_m": [ -46.00113249328768, -0.7125568109126907, 1.797658327206935, 9.455334573856318, 47.80193409934499 ], "negative_fraction": 0.1394658753709199, "absolute_over_1m_fraction": 0.7789317507418397, "common_support_cost": 70.45467031188451 } } }, { "method": "edge_rescue", "archived_pose_metrics": { "valid_output": true, "rotation_deg": 1.5028146021685955, "translation_m": 0.11114312842354379, "recovered": false }, "archived_accepted": true, "fitted_bias_m": 0.4999994710716215, "archived_cost": 1075.4308510228764, "common_supported": 1223, "states": { "reference_zero": { "total": 12288, "supported": 1467, "cost": 1108.345085603878, "supported_cost": 129.0580446423861, "signed_quantiles_m": [ -28.9550598284822, -2.5390373438312426, -0.05093330979602939, 0.5891079802602545, 43.26402361546901 ], "negative_fraction": 0.5855487389229721, "absolute_over_1m_fraction": 0.29788684389911385, "common_support_cost": 112.30959483518721 }, "reference_fitted_bias": { "total": 12288, "supported": 1467, "cost": 1090.2437632986603, "supported_cost": 110.95672233716846, "signed_quantiles_m": [ -28.455060357410577, -2.039037872759621, 0.4490661612755921, 1.0891074513318761, 43.764023086540625 ], "negative_fraction": 0.29243353783231085, "absolute_over_1m_fraction": 0.28561690524880706, "common_support_cost": 96.16687087636558 }, "fit_zero": { "total": 12288, "supported": 1348, "cost": 1083.3844932355794, "supported_cost": 93.32810028495373, "signed_quantiles_m": [ -46.06187033379982, -0.7732946514248288, 1.736920486694797, 9.39459673334418, 47.74119625883285 ], "negative_fraction": 0.14317507418397626, "absolute_over_1m_fraction": 0.7603857566765578, "common_support_cost": 71.37464713152572 }, "fit_fitted_bias": { "total": 12288, "supported": 1348, "cost": 1075.4308510228764, "supported_cost": 85.37445807225072, "signed_quantiles_m": [ -45.5618708627282, -0.2732951803532073, 2.2369199577664185, 9.894596204415802, 48.24119572990447 ], "negative_fraction": 0.1172106824925816, "absolute_over_1m_fraction": 0.9043026706231454, "common_support_cost": 64.38146067594104 } } } ] } ] }