{
  "scope": "spent KITTI SGBM metric transfer; 6 drives x 3 starts x 3 methods",
  "source_commit": "1ceb2d5272dfe3e349022225d649a2689c002b67",
  "plan_sha256": "0c0df2e82a46636a8ac536f51e22fe60adaeb853ecb4670b9b46a0554f4e2156",
  "cases": [
    {
      "case_id": "2011_09_26_0005-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.07493031681359333,
            -0.09885793156632565,
            -0.034745946266090594
          ],
          "rotation_quat_xyzw": [
            0.4941877852840095,
            -0.49977546916984306,
            0.5020176635553385,
            0.5039654539455933
          ]
        },
        "bias_m": 0.39556887627517673,
        "delta": [
          -1.0982591595341897,
          0.7729520910736493,
          -0.3441193060916399,
          -0.08212213104593707,
          0.026608786967134385,
          0.18464096613978262,
          0.39556887627517673
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 142,
        "nfev": 30,
        "njev": 16,
        "initial_support": [
          493,
          581,
          520
        ],
        "final_support": [
          484,
          560,
          517
        ],
        "cost": 1047.4206540214536,
        "sensitivity": {
          "common_supported": 1548,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              429.52579265852785,
              386.98190154179173,
              93.43902572962092,
              46.11125182458417,
              39.23551545947584,
              32.17852948053374,
              3.8686930762961893
            ],
            "singular_ratio": 0.009006893514708656,
            "bias_unexplained_fraction": 0.9834324186503113,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              87.27440216001285,
              46.120821880079625,
              15.380738223043107,
              9.134885436980888,
              6.768574301319227,
              3.9562843826234957,
              1.1755235878391987
            ],
            "singular_ratio": 0.013469282616040617,
            "bias_unexplained_fraction": 0.9407364988883619,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.29342519790385685,
        "translation_m": 0.23648076039394442,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.38899288899847306
    },
    {
      "case_id": "2011_09_26_0005-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.07161928935281853,
            -0.09393536017441532,
            0.23768504546170943
          ],
          "rotation_quat_xyzw": [
            0.4959772709916354,
            -0.4979931215714411,
            0.5036452214012711,
            0.5023453876436874
          ]
        },
        "bias_m": 0.4482846380669681,
        "delta": [
          -1.0989698988656418,
          0.793875473318504,
          0.04647887478988718,
          -0.08543315850671188,
          0.031531358359044706,
          0.45707195786758265,
          0.4482846380669681
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 135,
        "nfev": 30,
        "njev": 15,
        "initial_support": [
          493,
          581,
          520
        ],
        "final_support": [
          491,
          596,
          533
        ],
        "cost": 1043.2117344140183,
        "sensitivity": {
          "common_supported": 1613,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1802.132822566637,
              724.6893956165785,
              276.8722669913298,
              244.9843256322895,
              110.20408309883987,
              50.73504157667989,
              3.972549665370691
            ],
            "singular_ratio": 0.0022043600869068565,
            "bias_unexplained_fraction": 0.989150092591768,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              439.87108534054,
              229.71081882124238,
              65.5630383916174,
              30.9027675263199,
              26.852600036774096,
              7.768043512200761,
              1.1754118773645659
            ],
            "singular_ratio": 0.002672173544788887,
            "bias_unexplained_fraction": 0.9773783219799584,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.605488247406273,
        "translation_m": 0.5076172318300631,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.5914306820195634
    },
    {
      "case_id": "2011_09_26_0005-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.07161928935281853,
            -0.09393536017441532,
            0.23768504546170943
          ],
          "rotation_quat_xyzw": [
            0.4959772709916354,
            -0.4979931215714411,
            0.5036452214012711,
            0.5023453876436874
          ]
        },
        "bias_m": 0.499999495680579,
        "delta": [
          -1.0989698988656418,
          0.793875473318504,
          0.04647887478988718,
          -0.08543315850671188,
          0.031531358359044706,
          0.45707195786758265,
          0.499999495680579
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 168,
        "nfev": 30,
        "njev": 15,
        "initial_support": [
          493,
          581,
          520
        ],
        "final_support": [
          491,
          596,
          533
        ],
        "cost": 1042.2300728787354,
        "sensitivity": {
          "common_supported": 1613,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1802.132822566637,
              724.6893956165786,
              276.8722669913298,
              244.98432563228943,
              110.20408309883987,
              50.73504157667989,
              3.972549665370756
            ],
            "singular_ratio": 0.002204360086906893,
            "bias_unexplained_fraction": 0.9891500925917677,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              435.40432866699626,
              244.8667111744661,
              58.6215191350301,
              29.911709084566773,
              26.01725268173302,
              6.9669759726301494,
              1.1042159872681991
            ],
            "singular_ratio": 0.002536070301939327,
            "bias_unexplained_fraction": 0.9754572090878685,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.07161928935281853,
              -0.09393536017441532,
              0.23768504546170943
            ],
            "rotation_quat_xyzw": [
              0.4959772709916354,
              -0.4979931215714411,
              0.5036452214012711,
              0.5023453876436874
            ]
          },
          "bias_m": 0.4482846380669681,
          "delta": [
            -1.0989698988656418,
            0.793875473318504,
            0.04647887478988718,
            -0.08543315850671188,
            0.031531358359044706,
            0.45707195786758265,
            0.4482846380669681
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 135,
          "nfev": 30,
          "njev": 15,
          "initial_support": [
            493,
            581,
            520
          ],
          "final_support": [
            491,
            596,
            533
          ],
          "cost": 1043.2117344140183,
          "sensitivity": {
            "common_supported": 1613,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                1802.132822566637,
                724.6893956165785,
                276.8722669913298,
                244.9843256322895,
                110.20408309883987,
                50.73504157667989,
                3.972549665370691
              ],
              "singular_ratio": 0.0022043600869068565,
              "bias_unexplained_fraction": 0.989150092591768,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                439.87108534054,
                229.71081882124238,
                65.5630383916174,
                30.9027675263199,
                26.852600036774096,
                7.768043512200761,
                1.1754118773645659
              ],
              "singular_ratio": 0.002672173544788887,
              "bias_unexplained_fraction": 0.9773783219799584,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.4382846380669681,
              "cost": 1043.4122518028971
            },
            {
              "bias_m": 0.4582846380669681,
              "cost": 1043.014675342788
            }
          ],
          "cost_before": 1043.2117344140183,
          "scalar_success": true,
          "candidate_bias_m": 0.499999495680579,
          "candidate_cost": 1042.2300728787354,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.605488247406273,
        "translation_m": 0.5076172318300631,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.5969885030062869
    },
    {
      "case_id": "2011_09_26_0005-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.06970474902957093,
            -0.22111319570078955,
            -0.13685326902959266
          ],
          "rotation_quat_xyzw": [
            0.4926053069679739,
            -0.49841429562185824,
            0.5023540994701282,
            0.5065210362979129
          ]
        },
        "bias_m": 0.49748572496360977,
        "delta": [
          -0.42485245762864127,
          -0.10182308879528755,
          0.03467988436567197,
          0.012652301170040525,
          -0.14564647716732954,
          0.13253364337628054,
          0.49748572496360977
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 151,
        "nfev": 32,
        "njev": 17,
        "initial_support": [
          469,
          531,
          480
        ],
        "final_support": [
          477,
          573,
          518
        ],
        "cost": 1032.6949888594934,
        "sensitivity": {
          "common_supported": 1561,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              346.5584189231395,
              227.37321713875522,
              65.22693754550593,
              44.9984820603016,
              24.601670411496375,
              19.174272455659555,
              3.7176363604049674
            ],
            "singular_ratio": 0.010727300672587247,
            "bias_unexplained_fraction": 0.9423439723303207,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              107.0163874486717,
              45.7289539928731,
              15.712767324516292,
              6.401777983176701,
              4.012225748843911,
              2.760816005414881,
              1.476768129966316
            ],
            "singular_ratio": 0.013799457869708215,
            "bias_unexplained_fraction": 0.7506030624443115,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4382282613043882,
        "translation_m": 0.19732750356385184,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.3088563359924592
    },
    {
      "case_id": "2011_09_26_0005-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.029308934812037477,
            -0.10198234169346522,
            -0.2045808702714595
          ],
          "rotation_quat_xyzw": [
            0.49513771184999567,
            -0.4991531189064541,
            0.4994826598226082,
            0.5061638891964172
          ]
        },
        "bias_m": 0.14806331315629875,
        "delta": [
          -0.05111639174183402,
          0.1426783616338757,
          -0.008364350021270594,
          -0.02774351304749292,
          -0.02651562316000521,
          0.06480604213441371,
          0.14806331315629875
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 102,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          469,
          531,
          480
        ],
        "final_support": [
          476,
          543,
          496
        ],
        "cost": 1060.5626230348669,
        "sensitivity": {
          "common_supported": 1503,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              4394.639579132625,
              2626.7612366233716,
              283.80829723903946,
              160.1588930678334,
              32.61391032907704,
              31.437586414979947,
              3.8654883982135226
            ],
            "singular_ratio": 0.0008795916772261125,
            "bias_unexplained_fraction": 0.997089532262074,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              725.5513185502455,
              180.4347319276371,
              112.81278540080909,
              33.11049235692807,
              9.840086173287581,
              6.323126258097412,
              2.1557937510952465
            ],
            "singular_ratio": 0.0029712491673267558,
            "bias_unexplained_fraction": 0.9738213487604124,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.15178569313990858,
        "translation_m": 0.07531669061308535,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.2844318079878576
    },
    {
      "case_id": "2011_09_26_0005-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.029308934812037477,
            -0.10198234169346522,
            -0.2045808702714595
          ],
          "rotation_quat_xyzw": [
            0.49513771184999567,
            -0.4991531189064541,
            0.4994826598226082,
            0.5061638891964172
          ]
        },
        "bias_m": 0.49999963528468727,
        "delta": [
          -0.05111639174183402,
          0.1426783616338757,
          -0.008364350021270594,
          -0.02774351304749292,
          -0.02651562316000521,
          0.06480604213441371,
          0.49999963528468727
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 136,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          469,
          531,
          480
        ],
        "final_support": [
          476,
          543,
          496
        ],
        "cost": 1051.7967604174737,
        "sensitivity": {
          "common_supported": 1503,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              4394.639579132625,
              2626.7612366233716,
              283.80829723903946,
              160.1588930678334,
              32.61391032907703,
              31.437586414979947,
              3.8654883982135018
            ],
            "singular_ratio": 0.0008795916772261078,
            "bias_unexplained_fraction": 0.997089532262074,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              727.008460403741,
              222.50303915956667,
              94.99716768835962,
              21.276615371325377,
              8.972557019644826,
              6.437922520429539,
              1.1951323749584508
            ],
            "singular_ratio": 0.0016439043560713712,
            "bias_unexplained_fraction": 0.9802175367301701,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.029308934812037477,
              -0.10198234169346522,
              -0.2045808702714595
            ],
            "rotation_quat_xyzw": [
              0.49513771184999567,
              -0.4991531189064541,
              0.4994826598226082,
              0.5061638891964172
            ]
          },
          "bias_m": 0.14806331315629875,
          "delta": [
            -0.05111639174183402,
            0.1426783616338757,
            -0.008364350021270594,
            -0.02774351304749292,
            -0.02651562316000521,
            0.06480604213441371,
            0.14806331315629875
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 102,
          "nfev": 25,
          "njev": 11,
          "initial_support": [
            469,
            531,
            480
          ],
          "final_support": [
            476,
            543,
            496
          ],
          "cost": 1060.5626230348669,
          "sensitivity": {
            "common_supported": 1503,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                4394.639579132625,
                2626.7612366233716,
                283.80829723903946,
                160.1588930678334,
                32.61391032907704,
                31.437586414979947,
                3.8654883982135226
              ],
              "singular_ratio": 0.0008795916772261125,
              "bias_unexplained_fraction": 0.997089532262074,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                725.5513185502455,
                180.4347319276371,
                112.81278540080909,
                33.11049235692807,
                9.840086173287581,
                6.323126258097412,
                2.1557937510952465
              ],
              "singular_ratio": 0.0029712491673267558,
              "bias_unexplained_fraction": 0.9738213487604124,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.13806331315629874,
              "cost": 1060.9752333788842
            },
            {
              "bias_m": 0.15806331315629876,
              "cost": 1060.174179306105
            }
          ],
          "cost_before": 1060.5626230348669,
          "scalar_success": true,
          "candidate_bias_m": 0.49999963528468727,
          "candidate_cost": 1051.7967604174737,
          "scalar_calls": 31,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.15178569313990858,
        "translation_m": 0.07531669061308535,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.4136005030013621
    },
    {
      "case_id": "2011_09_26_0005-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.17684852549715052,
            -0.012700487713507133,
            -0.18019447560179042
          ],
          "rotation_quat_xyzw": [
            0.4911089637485837,
            -0.49417511952173265,
            0.4973725044255496,
            0.5169366777594043
          ]
        },
        "bias_m": 0.2818664816132532,
        "delta": [
          -0.06582654532430071,
          -0.06894849633454776,
          -0.20375541379719234,
          -0.1339009733566809,
          0.012766230819952878,
          0.13919243680408278,
          0.2818664816132532
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 154,
        "nfev": 35,
        "njev": 17,
        "initial_support": [
          406,
          488,
          456
        ],
        "final_support": [
          424,
          503,
          451
        ],
        "cost": 1041.1024882071542,
        "sensitivity": {
          "common_supported": 1369,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              630.4506286975666,
              347.4292775753192,
              68.150915686361,
              60.42631495024479,
              37.91500751116177,
              19.412430334877627,
              3.6398987270061616
            ],
            "singular_ratio": 0.005773487345909615,
            "bias_unexplained_fraction": 0.9839202559292418,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              48.6635803821012,
              25.083421582475584,
              5.749049067483252,
              3.38005171633176,
              2.4785140641236807,
              1.8223654395844064,
              0.9183210942630128
            ],
            "singular_ratio": 0.018870808252340956,
            "bias_unexplained_fraction": 0.963503194879667,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.576432434335252,
        "translation_m": 0.25807858464350864,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3130680019967258
    },
    {
      "case_id": "2011_09_26_0005-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.03737173448698312,
            -0.019988580770625507,
            -0.26378847953091233
          ],
          "rotation_quat_xyzw": [
            0.49271556559156443,
            -0.4929733822477048,
            0.49797806281484464,
            0.5159713798014556
          ]
        },
        "bias_m": 0.038635772033273015,
        "delta": [
          -0.019219425078856194,
          0.005128290709109151,
          0.04571619087093091,
          0.005575817653486492,
          0.005478137762834503,
          0.055598432874960885,
          0.038635772033273015
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 78,
        "nfev": 22,
        "njev": 8,
        "initial_support": [
          406,
          488,
          456
        ],
        "final_support": [
          409,
          492,
          458
        ],
        "cost": 1086.8209098815269,
        "sensitivity": {
          "common_supported": 1352,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3464.283229252489,
              571.6716750310728,
              234.55161633650158,
              60.43633568763018,
              7.061686460383293,
              4.371948100251709,
              2.7745988658084015
            ],
            "singular_ratio": 0.0008009157110422218,
            "bias_unexplained_fraction": 0.8588739097490565,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              98.14760456242678,
              20.290206484947102,
              8.797420003928398,
              2.9506508589914207,
              2.4932622772527426,
              1.147862166407023,
              0.7310982533687171
            ],
            "singular_ratio": 0.0074489668558716795,
            "bias_unexplained_fraction": 0.829419396904678,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.499120955339934,
        "translation_m": 0.10965898245057319,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.21638027299195528
    },
    {
      "case_id": "2011_09_26_0005-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-38",
          "full": 122838,
          "selected": 4096
        },
        {
          "frame": "frame-76",
          "full": 124044,
          "selected": 4096
        },
        {
          "frame": "frame-114",
          "full": 121656,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.03737173448698312,
            -0.019988580770625507,
            -0.26378847953091233
          ],
          "rotation_quat_xyzw": [
            0.49271556559156443,
            -0.4929733822477048,
            0.49797806281484464,
            0.5159713798014556
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          -0.019219425078856194,
          0.005128290709109151,
          0.04571619087093091,
          0.005575817653486492,
          0.005478137762834503,
          0.055598432874960885,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 111,
        "nfev": 22,
        "njev": 8,
        "initial_support": [
          406,
          488,
          456
        ],
        "final_support": [
          409,
          492,
          458
        ],
        "cost": 1077.0644134046204,
        "sensitivity": {
          "common_supported": 1352,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3464.2832292524904,
              571.6716750310729,
              234.55161633650158,
              60.436335687630184,
              7.061686460383276,
              4.371948100251663,
              2.7745988658083927
            ],
            "singular_ratio": 0.0008009157110422189,
            "bias_unexplained_fraction": 0.8588739097490639,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              17.20362519574763,
              14.491621850035042,
              13.128095263039976,
              2.2662730296446814,
              1.5435946681699992,
              0.704203962089135,
              0.40319342354312626
            ],
            "singular_ratio": 0.023436538459509517,
            "bias_unexplained_fraction": 0.7136892378681408,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.03737173448698312,
              -0.019988580770625507,
              -0.26378847953091233
            ],
            "rotation_quat_xyzw": [
              0.49271556559156443,
              -0.4929733822477048,
              0.49797806281484464,
              0.5159713798014556
            ]
          },
          "bias_m": 0.038635772033273015,
          "delta": [
            -0.019219425078856194,
            0.005128290709109151,
            0.04571619087093091,
            0.005575817653486492,
            0.005478137762834503,
            0.055598432874960885,
            0.038635772033273015
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 78,
          "nfev": 22,
          "njev": 8,
          "initial_support": [
            406,
            488,
            456
          ],
          "final_support": [
            409,
            492,
            458
          ],
          "cost": 1086.8209098815269,
          "sensitivity": {
            "common_supported": 1352,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                3464.283229252489,
                571.6716750310728,
                234.55161633650158,
                60.43633568763018,
                7.061686460383293,
                4.371948100251709,
                2.7745988658084015
              ],
              "singular_ratio": 0.0008009157110422218,
              "bias_unexplained_fraction": 0.8588739097490565,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                98.14760456242678,
                20.290206484947102,
                8.797420003928398,
                2.9506508589914207,
                2.4932622772527426,
                1.147862166407023,
                0.7310982533687171
              ],
              "singular_ratio": 0.0074489668558716795,
              "bias_unexplained_fraction": 0.829419396904678,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.028635772033273013,
              "cost": 1087.1056900591147
            },
            {
              "bias_m": 0.04863577203327302,
              "cost": 1086.541492842441
            }
          ],
          "cost_before": 1086.8209098815273,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1077.0644134046204,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.499120955339934,
        "translation_m": 0.10965898245057319,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3151197489933111
    },
    {
      "case_id": "2011_09_28_0002-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.3517538137235796,
            0.2804207407409822,
            -0.12965027338945687
          ],
          "rotation_quat_xyzw": [
            0.4884023978879548,
            -0.507301947339734,
            0.5079080898865711,
            0.49612216659849473
          ]
        },
        "bias_m": 0.45158086115667784,
        "delta": [
          -1.788994732897728,
          -0.678375335103355,
          -0.19626568758212665,
          0.2136588675898074,
          0.39185981049377333,
          0.147917709443441,
          0.45158086115667784
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 192,
        "nfev": 38,
        "njev": 22,
        "initial_support": [
          537,
          573,
          576
        ],
        "final_support": [
          450,
          479,
          486
        ],
        "cost": 1017.7799021639473,
        "sensitivity": {
          "common_supported": 1411,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              825.3242273907808,
              318.7517434009305,
              175.89660876660898,
              31.562997472326956,
              16.515450370098645,
              14.716169178218601,
              3.0788437533098234
            ],
            "singular_ratio": 0.0037304657383479775,
            "bias_unexplained_fraction": 0.826300231352926,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              23.70404775437076,
              13.7002666734633,
              3.982479676352732,
              2.8543985511040506,
              1.3685996276732724,
              0.629530869350614,
              0.35472490534525153
            ],
            "singular_ratio": 0.014964739736479996,
            "bias_unexplained_fraction": 0.8885563162394671,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.8708843663123185,
        "translation_m": 0.5044020568553397,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.37446523501421325
    },
    {
      "case_id": "2011_09_28_0002-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.22928901850080557,
            0.019803893937475975,
            0.13409163557985776
          ],
          "rotation_quat_xyzw": [
            -0.4932423218342688,
            0.509693049138003,
            -0.5023362660384569,
            -0.4945536203835591
          ]
        },
        "bias_m": 0.23709649514540984,
        "delta": [
          -0.9644772247134966,
          -0.3085165978946992,
          -0.28130802304140606,
          0.0911940723670334,
          0.13124296369026708,
          0.4116596184127556,
          0.23709649514540984
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 102,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          537,
          573,
          576
        ],
        "final_support": [
          545,
          567,
          585
        ],
        "cost": 1056.3727657692746,
        "sensitivity": {
          "common_supported": 1695,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3647.219731606335,
              1513.7673696654067,
              452.45563770594913,
              127.10551013964283,
              105.52207289972272,
              58.32888312227535,
              4.079404066557914
            ],
            "singular_ratio": 0.0011184969282783612,
            "bias_unexplained_fraction": 0.9908677434265933,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              527.0892095955994,
              99.48844534064435,
              39.33909615998464,
              27.310070212944762,
              20.260021706298083,
              4.924668059220783,
              0.7643153486055727
            ],
            "singular_ratio": 0.0014500682895633192,
            "bias_unexplained_fraction": 0.9936031678458028,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.3215755994562164,
        "translation_m": 0.5062461809539699,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.28037510602734983
    },
    {
      "case_id": "2011_09_28_0002-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.22928901850080557,
            0.019803893937475975,
            0.13409163557985776
          ],
          "rotation_quat_xyzw": [
            -0.4932423218342688,
            0.509693049138003,
            -0.5023362660384569,
            -0.4945536203835591
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          -0.9644772247134966,
          -0.3085165978946992,
          -0.28130802304140606,
          0.0911940723670334,
          0.13124296369026708,
          0.4116596184127556,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 135,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          537,
          573,
          576
        ],
        "final_support": [
          545,
          567,
          585
        ],
        "cost": 1051.4447402157903,
        "sensitivity": {
          "common_supported": 1695,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3647.219731606335,
              1513.7673696654067,
              452.45563770594913,
              127.10551013964286,
              105.52207289972269,
              58.32888312227535,
              4.079404066558009
            ],
            "singular_ratio": 0.0011184969282783872,
            "bias_unexplained_fraction": 0.9908677434265938,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              511.60756867349727,
              71.6493168244312,
              32.421199672496094,
              23.04565944020245,
              19.81664097549462,
              2.761588175736975,
              0.5317068746266375
            ],
            "singular_ratio": 0.00103928656881534,
            "bias_unexplained_fraction": 0.9850134269407078,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.22928901850080557,
              0.019803893937475975,
              0.13409163557985776
            ],
            "rotation_quat_xyzw": [
              -0.4932423218342688,
              0.509693049138003,
              -0.5023362660384569,
              -0.4945536203835591
            ]
          },
          "bias_m": 0.23709649514540984,
          "delta": [
            -0.9644772247134966,
            -0.3085165978946992,
            -0.28130802304140606,
            0.0911940723670334,
            0.13124296369026708,
            0.4116596184127556,
            0.23709649514540984
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 102,
          "nfev": 25,
          "njev": 11,
          "initial_support": [
            537,
            573,
            576
          ],
          "final_support": [
            545,
            567,
            585
          ],
          "cost": 1056.3727657692746,
          "sensitivity": {
            "common_supported": 1695,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                3647.219731606335,
                1513.7673696654067,
                452.45563770594913,
                127.10551013964283,
                105.52207289972272,
                58.32888312227535,
                4.079404066557914
              ],
              "singular_ratio": 0.0011184969282783612,
              "bias_unexplained_fraction": 0.9908677434265933,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                527.0892095955994,
                99.48844534064435,
                39.33909615998464,
                27.310070212944762,
                20.260021706298083,
                4.924668059220783,
                0.7643153486055727
              ],
              "singular_ratio": 0.0014500682895633192,
              "bias_unexplained_fraction": 0.9936031678458028,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.22709649514540983,
              "cost": 1056.5622317096986
            },
            {
              "bias_m": 0.24709649514540985,
              "cost": 1056.1838846027572
            }
          ],
          "cost_before": 1056.3727657692746,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1051.4447402157903,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.3215755994562164,
        "translation_m": 0.5062461809539699,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.41943122702650726
    },
    {
      "case_id": "2011_09_28_0002-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.0632694006263707,
            -0.10138282750964378,
            -0.1249404203229472
          ],
          "rotation_quat_xyzw": [
            0.49850167424844993,
            -0.5014424152030791,
            0.4979608751672885,
            0.5020822161851815
          ]
        },
        "bias_m": -0.005859952108364838,
        "delta": [
          -0.3070299764543739,
          0.15914306102126713,
          0.3310848177475819,
          -0.10136434676014287,
          -0.039943757756852674,
          0.20262756250995065,
          -0.005859952108364838
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 94,
        "nfev": 24,
        "njev": 10,
        "initial_support": [
          506,
          548,
          555
        ],
        "final_support": [
          511,
          554,
          574
        ],
        "cost": 1019.778534897914,
        "sensitivity": {
          "common_supported": 1635,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              466.38873963493336,
              385.415093944789,
              146.76700325123608,
              67.6178188172566,
              13.024171235277775,
              9.841691464674833,
              3.7448346331280464
            ],
            "singular_ratio": 0.008029427631677648,
            "bias_unexplained_fraction": 0.9287418980266084,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              54.74493378821304,
              26.5556926664042,
              18.507726860124173,
              11.660944580501576,
              2.8443032508669095,
              2.5755355717826576,
              1.365171745846506
            ],
            "singular_ratio": 0.024936951264345794,
            "bias_unexplained_fraction": 0.7112309350619553,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.47905430979249064,
        "translation_m": 0.230061217215272,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.21435404600924812
    },
    {
      "case_id": "2011_09_28_0002-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.13268145516976598,
            -0.13055577223324447,
            -0.2556572863206609
          ],
          "rotation_quat_xyzw": [
            -0.49562123375836803,
            0.5042486683107004,
            -0.5001635781951044,
            -0.49992926319809333
          ]
        },
        "bias_m": 0.12142991107236963,
        "delta": [
          -0.3191497943357953,
          -0.4161633419650443,
          0.25487641786766574,
          0.09458650903599382,
          -0.06911670248045336,
          0.0719106965122369,
          0.12142991107236963
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 109,
        "nfev": 25,
        "njev": 12,
        "initial_support": [
          506,
          548,
          555
        ],
        "final_support": [
          514,
          555,
          564
        ],
        "cost": 1026.0321198232386,
        "sensitivity": {
          "common_supported": 1632,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1568.2411668983123,
              1009.5296596537538,
              437.8779551438413,
              86.03056969111275,
              73.50386082616758,
              71.72600788396426,
              3.9432305927729874
            ],
            "singular_ratio": 0.0025144286963031076,
            "bias_unexplained_fraction": 0.9761522887845704,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              520.6503630033694,
              318.08809933776155,
              173.92248547552998,
              31.180382224087097,
              29.397882330608383,
              17.831718704338613,
              2.2213013117883857
            ],
            "singular_ratio": 0.004266397316953394,
            "bias_unexplained_fraction": 0.9482668679328456,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.5825965769908836,
        "translation_m": 0.13745862841692655,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.33646162899094634
    },
    {
      "case_id": "2011_09_28_0002-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.13268145516976598,
            -0.13055577223324447,
            -0.2556572863206609
          ],
          "rotation_quat_xyzw": [
            -0.49562123375836803,
            0.5042486683107004,
            -0.5001635781951044,
            -0.49992926319809333
          ]
        },
        "bias_m": 0.13173644170847695,
        "delta": [
          -0.3191497943357953,
          -0.4161633419650443,
          0.25487641786766574,
          0.09458650903599382,
          -0.06911670248045336,
          0.0719106965122369,
          0.13173644170847695
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 125,
        "nfev": 25,
        "njev": 12,
        "initial_support": [
          506,
          548,
          555
        ],
        "final_support": [
          514,
          555,
          564
        ],
        "cost": 1026.0187703221704,
        "sensitivity": {
          "common_supported": 1632,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1568.2411668983123,
              1009.5296596537538,
              437.8779551438413,
              86.0305696911127,
              73.50386082616762,
              71.72600788396426,
              3.9432305927729843
            ],
            "singular_ratio": 0.0025144286963031054,
            "bias_unexplained_fraction": 0.9761522887845705,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              518.8961157195118,
              316.46430773068937,
              172.68147631145973,
              31.122900352481455,
              28.769682317912455,
              17.70775522153428,
              2.1576548863264824
            ],
            "singular_ratio": 0.004158163495470831,
            "bias_unexplained_fraction": 0.9484724572224582,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.13268145516976598,
              -0.13055577223324447,
              -0.2556572863206609
            ],
            "rotation_quat_xyzw": [
              -0.49562123375836803,
              0.5042486683107004,
              -0.5001635781951044,
              -0.49992926319809333
            ]
          },
          "bias_m": 0.12142991107236963,
          "delta": [
            -0.3191497943357953,
            -0.4161633419650443,
            0.25487641786766574,
            0.09458650903599382,
            -0.06911670248045336,
            0.0719106965122369,
            0.12142991107236963
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 109,
          "nfev": 25,
          "njev": 12,
          "initial_support": [
            506,
            548,
            555
          ],
          "final_support": [
            514,
            555,
            564
          ],
          "cost": 1026.0321198232386,
          "sensitivity": {
            "common_supported": 1632,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                1568.2411668983123,
                1009.5296596537538,
                437.8779551438413,
                86.03056969111275,
                73.50386082616758,
                71.72600788396426,
                3.9432305927729874
              ],
              "singular_ratio": 0.0025144286963031076,
              "bias_unexplained_fraction": 0.9761522887845704,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                520.6503630033694,
                318.08809933776155,
                173.92248547552998,
                31.180382224087097,
                29.397882330608383,
                17.831718704338613,
                2.2213013117883857
              ],
              "singular_ratio": 0.004266397316953394,
              "bias_unexplained_fraction": 0.9482668679328456,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.11142991107236963,
              "cost": 1026.0731655612321
            },
            {
              "bias_m": 0.13142991107236962,
              "cost": 1026.0187815315185
            }
          ],
          "cost_before": 1026.0321198232389,
          "scalar_success": true,
          "candidate_bias_m": 0.13173644170847695,
          "candidate_cost": 1026.0187703221704,
          "scalar_calls": 13,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.5825965769908836,
        "translation_m": 0.13745862841692655,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.40953568898839876
    },
    {
      "case_id": "2011_09_28_0002-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.26158846378833145,
            0.12943633826028117,
            -0.38353670182834587
          ],
          "rotation_quat_xyzw": [
            0.49115360382464274,
            -0.48968687138901534,
            0.505728435341272,
            0.513043521669042
          ]
        },
        "bias_m": 0.05919775925014134,
        "delta": [
          -1.473676497626212,
          -0.37084717002316375,
          0.9126919807668934,
          -0.1996834099221036,
          0.14087540801307227,
          -0.005968718995448042,
          0.05919775925014134
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 108,
        "nfev": 24,
        "njev": 12,
        "initial_support": [
          478,
          518,
          512
        ],
        "final_support": [
          414,
          440,
          449
        ],
        "cost": 1011.6290271440029,
        "sensitivity": {
          "common_supported": 1299,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              394.91292399987844,
              217.32450063559335,
              109.3110724019213,
              17.11120977830742,
              11.348868092119988,
              10.025241001624606,
              2.9705191089752447
            ],
            "singular_ratio": 0.0075219597244079025,
            "bias_unexplained_fraction": 0.8332111365678404,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              5.166037329025931,
              2.8112424077695013,
              1.855748958187943,
              0.8983202752353329,
              0.7332264065579146,
              0.3707861979697307,
              0.2543100288027377
            ],
            "singular_ratio": 0.0492272921401225,
            "bias_unexplained_fraction": 0.7073909993654787,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.577324773568913,
        "translation_m": 0.3596888447987897,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.24455820600269362
    },
    {
      "case_id": "2011_09_28_0002-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.20845898013767192,
            -0.16040832416709966,
            -0.017474322458107483
          ],
          "rotation_quat_xyzw": [
            0.47984947099937775,
            -0.4995817779487655,
            0.5091000658009577,
            0.5108616792485303
          ]
        },
        "bias_m": 0.3452657974171883,
        "delta": [
          -1.644251329895275,
          -1.9185383238344513,
          0.049448340714615756,
          0.27036403400389974,
          -0.14896925441430856,
          0.36009366037479035,
          0.3452657974171883
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 57,
        "nfev": 15,
        "njev": 6,
        "initial_support": [
          478,
          518,
          512
        ],
        "final_support": [
          501,
          538,
          544
        ],
        "cost": 996.8426520079943,
        "sensitivity": {
          "common_supported": 1574,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              5754.5028062657875,
              1306.791393580091,
              531.0062071724495,
              73.53589962504304,
              24.42141781638045,
              6.758236042529513,
              3.876401401526873
            ],
            "singular_ratio": 0.0006736292486131131,
            "bias_unexplained_fraction": 0.9806861118398599,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              89.58711989824037,
              21.99919469694585,
              2.969535216388712,
              1.1111446174746904,
              0.9142953192441866,
              0.5187320703699179,
              0.25728829362164596
            ],
            "singular_ratio": 0.002871933977941169,
            "bias_unexplained_fraction": 0.7883598298255663,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.8320321196054823,
        "translation_m": 0.3673920189743401,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.1940676830126904
    },
    {
      "case_id": "2011_09_28_0002-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-93",
          "full": 120930,
          "selected": 4096
        },
        {
          "frame": "frame-187",
          "full": 115437,
          "selected": 4096
        },
        {
          "frame": "frame-281",
          "full": 115225,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.20845898013767192,
            -0.16040832416709966,
            -0.017474322458107483
          ],
          "rotation_quat_xyzw": [
            0.47984947099937775,
            -0.4995817779487655,
            0.5091000658009577,
            0.5108616792485303
          ]
        },
        "bias_m": 0.49999958067838,
        "delta": [
          -1.644251329895275,
          -1.9185383238344513,
          0.049448340714615756,
          0.27036403400389974,
          -0.14896925441430856,
          0.36009366037479035,
          0.49999958067838
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 90,
        "nfev": 15,
        "njev": 6,
        "initial_support": [
          478,
          518,
          512
        ],
        "final_support": [
          501,
          538,
          544
        ],
        "cost": 996.6160261492743,
        "sensitivity": {
          "common_supported": 1574,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              5754.502806265779,
              1306.7913935800898,
              531.0062071724493,
              73.53589962504304,
              24.42141781638043,
              6.758236042529503,
              3.8764014015269277
            ],
            "singular_ratio": 0.0006736292486131235,
            "bias_unexplained_fraction": 0.9806861118398597,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              34.14665805448782,
              18.965491287831966,
              1.37658042673346,
              0.6855745746122002,
              0.5699179322935161,
              0.28779497428121076,
              0.11531228548833646
            ],
            "singular_ratio": 0.003376971336531166,
            "bias_unexplained_fraction": 0.6103879833102788,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.20845898013767192,
              -0.16040832416709966,
              -0.017474322458107483
            ],
            "rotation_quat_xyzw": [
              0.47984947099937775,
              -0.4995817779487655,
              0.5091000658009577,
              0.5108616792485303
            ]
          },
          "bias_m": 0.3452657974171883,
          "delta": [
            -1.644251329895275,
            -1.9185383238344513,
            0.049448340714615756,
            0.27036403400389974,
            -0.14896925441430856,
            0.36009366037479035,
            0.3452657974171883
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 57,
          "nfev": 15,
          "njev": 6,
          "initial_support": [
            478,
            518,
            512
          ],
          "final_support": [
            501,
            538,
            544
          ],
          "cost": 996.8426520079943,
          "sensitivity": {
            "common_supported": 1574,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                5754.5028062657875,
                1306.791393580091,
                531.0062071724495,
                73.53589962504304,
                24.42141781638045,
                6.758236042529513,
                3.876401401526873
              ],
              "singular_ratio": 0.0006736292486131131,
              "bias_unexplained_fraction": 0.9806861118398599,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                89.58711989824037,
                21.99919469694585,
                2.969535216388712,
                1.1111446174746904,
                0.9142953192441866,
                0.5187320703699179,
                0.25728829362164596
              ],
              "singular_ratio": 0.002871933977941169,
              "bias_unexplained_fraction": 0.7883598298255663,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.3352657974171883,
              "cost": 996.8583127089425
            },
            {
              "bias_m": 0.35526579741718833,
              "cost": 996.8272667106595
            }
          ],
          "cost_before": 996.8426520079945,
          "scalar_success": true,
          "candidate_bias_m": 0.49999958067838,
          "candidate_cost": 996.6160261492743,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.8320321196054823,
        "translation_m": 0.3673920189743401,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.29767052599345334
    },
    {
      "case_id": "2011_09_26_0009-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.07046767543703442,
            -0.12113303670601842,
            0.11727894892289342
          ],
          "rotation_quat_xyzw": [
            0.49139539271291893,
            -0.5004461971189038,
            0.5041350077862701,
            0.5039167249993605
          ]
        },
        "bias_m": 0.0837020716242411,
        "delta": [
          -1.3372985412391443,
          0.44928299386779563,
          -0.41949268569578235,
          -0.08658477242249599,
          0.004333681827441611,
          0.33666586132876664,
          0.0837020716242411
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 160,
        "nfev": 34,
        "njev": 18,
        "initial_support": [
          508,
          532,
          560
        ],
        "final_support": [
          525,
          534,
          589
        ],
        "cost": 1030.913441564282,
        "sensitivity": {
          "common_supported": 1643,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              355.08150128530724,
              259.7980995142275,
              97.46618363594497,
              38.3438235357351,
              16.483457937539693,
              12.50964837094019,
              3.8491936472028714
            ],
            "singular_ratio": 0.010840310276006331,
            "bias_unexplained_fraction": 0.9513729251666513,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              86.80088387199058,
              30.59714171360858,
              17.921182627071623,
              7.055502557954526,
              3.829044434150939,
              2.904603316135849,
              1.5404628986449502
            ],
            "singular_ratio": 0.01774708770151171,
            "bias_unexplained_fraction": 0.7963634821070057,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.6417446602663568,
        "translation_m": 0.389584226148224,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.33041728599346243
    },
    {
      "case_id": "2011_09_26_0009-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.24114964488560603,
            -0.2738267489216509,
            0.2523634326954327
          ],
          "rotation_quat_xyzw": [
            0.48707949997042777,
            -0.4997110454903067,
            0.5094950077938485,
            0.5034453979893838
          ]
        },
        "bias_m": 0.4424570304186675,
        "delta": [
          -1.9065008307268292,
          -0.08998926238490497,
          -0.29064176801602,
          0.08409719702607563,
          -0.14836003038819084,
          0.4717503451013059,
          0.4424570304186675
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 117,
        "nfev": 26,
        "njev": 13,
        "initial_support": [
          508,
          532,
          560
        ],
        "final_support": [
          576,
          585,
          633
        ],
        "cost": 1009.1870008687355,
        "sensitivity": {
          "common_supported": 1783,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3236.165580211353,
              847.6753041399757,
              471.18054172149976,
              147.18396962654765,
              142.3250330672479,
              60.60757159784835,
              4.165824261904311
            ],
            "singular_ratio": 0.0012872716672402908,
            "bias_unexplained_fraction": 0.9865727725218746,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              212.68813672933948,
              71.13345872198512,
              44.96983928205415,
              37.54575885462124,
              22.41203636788732,
              17.615984213780866,
              1.7409181748368476
            ],
            "singular_ratio": 0.008185309258937595,
            "bias_unexplained_fraction": 0.8711418208004185,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.4244757356827638,
        "translation_m": 0.5877600719866853,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.31354133199783973
    },
    {
      "case_id": "2011_09_26_0009-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.24114964488560603,
            -0.2738267489216509,
            0.2523634326954327
          ],
          "rotation_quat_xyzw": [
            0.48707949997042777,
            -0.4997110454903067,
            0.5094950077938485,
            0.5034453979893838
          ]
        },
        "bias_m": 0.46720755795446345,
        "delta": [
          -1.9065008307268292,
          -0.08998926238490497,
          -0.29064176801602,
          0.08409719702607563,
          -0.14836003038819084,
          0.4717503451013059,
          0.46720755795446345
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 133,
        "nfev": 26,
        "njev": 13,
        "initial_support": [
          508,
          532,
          560
        ],
        "final_support": [
          576,
          585,
          633
        ],
        "cost": 1009.1307127216397,
        "sensitivity": {
          "common_supported": 1783,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3236.165580211353,
              847.6753041399755,
              471.1805417214994,
              147.1839696265476,
              142.32503306724792,
              60.60757159784831,
              4.165824261904533
            ],
            "singular_ratio": 0.0012872716672403595,
            "bias_unexplained_fraction": 0.986572772521875,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              214.32281329353245,
              72.65945564359987,
              40.64956459410184,
              33.980952257609445,
              22.277320109016163,
              15.741394811320307,
              1.6204339800990186
            ],
            "singular_ratio": 0.0075607162634604985,
            "bias_unexplained_fraction": 0.8560058206317654,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.24114964488560603,
              -0.2738267489216509,
              0.2523634326954327
            ],
            "rotation_quat_xyzw": [
              0.48707949997042777,
              -0.4997110454903067,
              0.5094950077938485,
              0.5034453979893838
            ]
          },
          "bias_m": 0.4424570304186675,
          "delta": [
            -1.9065008307268292,
            -0.08998926238490497,
            -0.29064176801602,
            0.08409719702607563,
            -0.14836003038819084,
            0.4717503451013059,
            0.4424570304186675
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 117,
          "nfev": 26,
          "njev": 13,
          "initial_support": [
            508,
            532,
            560
          ],
          "final_support": [
            576,
            585,
            633
          ],
          "cost": 1009.1870008687355,
          "sensitivity": {
            "common_supported": 1783,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                3236.165580211353,
                847.6753041399757,
                471.18054172149976,
                147.18396962654765,
                142.3250330672479,
                60.60757159784835,
                4.165824261904311
              ],
              "singular_ratio": 0.0012872716672402908,
              "bias_unexplained_fraction": 0.9865727725218746,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                212.68813672933948,
                71.13345872198512,
                44.96983928205415,
                37.54575885462124,
                22.41203636788732,
                17.615984213780866,
                1.7409181748368476
              ],
              "singular_ratio": 0.008185309258937595,
              "bias_unexplained_fraction": 0.8711418208004185,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.4324570304186675,
              "cost": 1009.2452229521258
            },
            {
              "bias_m": 0.4524570304186675,
              "cost": 1009.1500328113648
            }
          ],
          "cost_before": 1009.1870008687356,
          "scalar_success": true,
          "candidate_bias_m": 0.46720755795446345,
          "candidate_cost": 1009.1307127216397,
          "scalar_calls": 13,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.4244757356827638,
        "translation_m": 0.5877600719866853,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.41948763097752817
    },
    {
      "case_id": "2011_09_26_0009-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.0008895097320808787,
            -0.192272618463761,
            0.062308411505308525
          ],
          "rotation_quat_xyzw": [
            0.492208994415783,
            -0.4969983454542966,
            0.5032918898395633,
            0.5073659665898143
          ]
        },
        "bias_m": 0.2203908487718386,
        "delta": [
          -0.6305583775939613,
          -0.046891992017420094,
          0.09803340236881154,
          -0.05616293812744952,
          -0.116805899930301,
          0.3316953239111817,
          0.2203908487718386
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 81,
        "nfev": 18,
        "njev": 9,
        "initial_support": [
          486,
          495,
          546
        ],
        "final_support": [
          531,
          541,
          585
        ],
        "cost": 1012.9226050763078,
        "sensitivity": {
          "common_supported": 1653,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              359.18697653979103,
              193.08186259693883,
              79.046584231263,
              36.62023044903543,
              18.192549069376323,
              10.175674589897447,
              3.8285879195716257
            ],
            "singular_ratio": 0.010659038800499192,
            "bias_unexplained_fraction": 0.9436321607185565,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              40.06980197784477,
              22.898710469325398,
              15.1358367533937,
              6.411117167747424,
              2.610659192902746,
              2.4049744905907824,
              1.4950796528366976
            ],
            "singular_ratio": 0.037311880244962306,
            "bias_unexplained_fraction": 0.793784216912963,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.639814475818906,
        "translation_m": 0.35611751119845114,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.20750051501090638
    },
    {
      "case_id": "2011_09_26_0009-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.06916943963846844,
            -0.16112265549104848,
            -0.13003016010791368
          ],
          "rotation_quat_xyzw": [
            0.4932884656911659,
            -0.4987053715947609,
            0.501358208105986,
            0.5065564027068871
          ]
        },
        "bias_m": 0.22048516752505526,
        "delta": [
          -0.3135382788186278,
          -0.021186241868271626,
          -0.0026928782265982017,
          0.012116991778938045,
          -0.08565593695758847,
          0.13935675229795952,
          0.22048516752505526
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 135,
        "nfev": 30,
        "njev": 15,
        "initial_support": [
          486,
          495,
          546
        ],
        "final_support": [
          523,
          508,
          570
        ],
        "cost": 1033.0357650475432,
        "sensitivity": {
          "common_supported": 1595,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2419.805476282756,
              1817.1680165843331,
              561.5533852297747,
              185.71283149913268,
              67.82216181103098,
              50.576902923555465,
              3.9256662997522525
            ],
            "singular_ratio": 0.001622306560683862,
            "bias_unexplained_fraction": 0.9830033727155139,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              390.8697693943346,
              137.94113064545996,
              107.41360259406265,
              35.34329036265276,
              19.18761458619085,
              8.083384724746955,
              2.2218007398213855
            ],
            "singular_ratio": 0.005684248089239897,
            "bias_unexplained_fraction": 0.9538780771016668,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.31426528886911415,
        "translation_m": 0.164024587903424,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.40847072697943076
    },
    {
      "case_id": "2011_09_26_0009-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.06916943963846844,
            -0.16112265549104848,
            -0.13003016010791368
          ],
          "rotation_quat_xyzw": [
            0.4932884656911659,
            -0.4987053715947609,
            0.501358208105986,
            0.5065564027068871
          ]
        },
        "bias_m": 0.49999934238717797,
        "delta": [
          -0.3135382788186278,
          -0.021186241868271626,
          -0.0026928782265982017,
          0.012116991778938045,
          -0.08565593695758847,
          0.13935675229795952,
          0.49999934238717797
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 170,
        "nfev": 30,
        "njev": 15,
        "initial_support": [
          486,
          495,
          546
        ],
        "final_support": [
          523,
          508,
          570
        ],
        "cost": 1031.6289518171388,
        "sensitivity": {
          "common_supported": 1595,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2419.805476282756,
              1817.1680165843331,
              561.553385229775,
              185.71283149913276,
              67.822161811031,
              50.57690292355545,
              3.925666299752137
            ],
            "singular_ratio": 0.0016223065606838143,
            "bias_unexplained_fraction": 0.9830033727155137,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              361.24696461829615,
              69.99879565154647,
              68.57157285522614,
              18.558126505591297,
              14.182196741776657,
              4.850423542196875,
              1.0571722772786525
            ],
            "singular_ratio": 0.002926453038562389,
            "bias_unexplained_fraction": 0.9749089960571581,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.06916943963846844,
              -0.16112265549104848,
              -0.13003016010791368
            ],
            "rotation_quat_xyzw": [
              0.4932884656911659,
              -0.4987053715947609,
              0.501358208105986,
              0.5065564027068871
            ]
          },
          "bias_m": 0.22048516752505526,
          "delta": [
            -0.3135382788186278,
            -0.021186241868271626,
            -0.0026928782265982017,
            0.012116991778938045,
            -0.08565593695758847,
            0.13935675229795952,
            0.22048516752505526
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 135,
          "nfev": 30,
          "njev": 15,
          "initial_support": [
            486,
            495,
            546
          ],
          "final_support": [
            523,
            508,
            570
          ],
          "cost": 1033.0357650475432,
          "sensitivity": {
            "common_supported": 1595,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                2419.805476282756,
                1817.1680165843331,
                561.5533852297747,
                185.71283149913268,
                67.82216181103098,
                50.576902923555465,
                3.9256662997522525
              ],
              "singular_ratio": 0.001622306560683862,
              "bias_unexplained_fraction": 0.9830033727155139,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                390.8697693943346,
                137.94113064545996,
                107.41360259406265,
                35.34329036265276,
                19.18761458619085,
                8.083384724746955,
                2.2218007398213855
              ],
              "singular_ratio": 0.005684248089239897,
              "bias_unexplained_fraction": 0.9538780771016668,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.21048516752505525,
              "cost": 1033.2238162614285
            },
            {
              "bias_m": 0.23048516752505527,
              "cost": 1032.8769303490035
            }
          ],
          "cost_before": 1033.0357650475435,
          "scalar_success": true,
          "candidate_bias_m": 0.49999934238717797,
          "candidate_cost": 1031.6289518171388,
          "scalar_calls": 32,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.31426528886911415,
        "translation_m": 0.164024587903424,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.5435967179946601
    },
    {
      "case_id": "2011_09_26_0009-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.04109309263292383,
            -0.018406263158278605,
            -0.31697424660333207
          ],
          "rotation_quat_xyzw": [
            0.49231875244063655,
            -0.49288844199415394,
            0.4978231485457207,
            0.516580431797311
          ]
        },
        "bias_m": 0.0032504080835661165,
        "delta": [
          -0.07315828238817455,
          0.03067308276438224,
          -0.01583551427439561,
          0.0018544595075457768,
          0.007060455375181406,
          0.0024126658025411525,
          0.0032504080835661165
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 129,
        "nfev": 31,
        "njev": 14,
        "initial_support": [
          442,
          452,
          499
        ],
        "final_support": [
          439,
          458,
          499
        ],
        "cost": 1056.8238432843232,
        "sensitivity": {
          "common_supported": 1388,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              457.4710374592292,
              169.3703379373732,
              100.28707317766643,
              29.320860670232854,
              17.799971369228672,
              12.261490187866439,
              3.492538507786438
            ],
            "singular_ratio": 0.007634447258527706,
            "bias_unexplained_fraction": 0.938411518215241,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              20.569503196029316,
              12.27728711422228,
              5.5128952192138785,
              2.8329915415223867,
              2.1448365252857955,
              1.6256972649425547,
              0.8458906581754374
            ],
            "singular_ratio": 0.041123533714646346,
            "bias_unexplained_fraction": 0.9295714735069172,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.5718188983489492,
        "translation_m": 0.12309751038180941,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.28834609099430963
    },
    {
      "case_id": "2011_09_26_0009-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.051723915113647226,
            -0.01679224287382068,
            -0.2683866153950232
          ],
          "rotation_quat_xyzw": [
            0.49246282232579175,
            -0.49366703680642315,
            0.4975138221298764,
            0.5159973083141066
          ]
        },
        "bias_m": 0.04344630962599602,
        "delta": [
          0.030178733594882854,
          -0.022634942005720006,
          -0.036661715195383505,
          -0.00877636297317762,
          0.00867447565963933,
          0.051000297010850036,
          0.04344630962599602
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 102,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          442,
          452,
          499
        ],
        "final_support": [
          439,
          460,
          508
        ],
        "cost": 1044.077312827254,
        "sensitivity": {
          "common_supported": 1404,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2998.665090405934,
              704.0990298854568,
              368.2513530838998,
              77.15416596574818,
              53.13256427192346,
              26.815837610985117,
              3.681927515757904
            ],
            "singular_ratio": 0.0012278555306286223,
            "bias_unexplained_fraction": 0.9827144771210363,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              342.1908042779187,
              141.2122606968121,
              23.11371667044417,
              8.651858372159044,
              8.57821504084004,
              2.076424984552184,
              0.9045990803311456
            ],
            "singular_ratio": 0.0026435516940322367,
            "bias_unexplained_fraction": 0.9205314939197643,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.4746026219787935,
        "translation_m": 0.12359608339148945,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3211516920127906
    },
    {
      "case_id": "2011_09_26_0009-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-111",
          "full": 113728,
          "selected": 4096
        },
        {
          "frame": "frame-223",
          "full": 118405,
          "selected": 4096
        },
        {
          "frame": "frame-334",
          "full": 107739,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.051723915113647226,
            -0.01679224287382068,
            -0.2683866153950232
          ],
          "rotation_quat_xyzw": [
            0.49246282232579175,
            -0.49366703680642315,
            0.4975138221298764,
            0.5159973083141066
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          0.030178733594882854,
          -0.022634942005720006,
          -0.036661715195383505,
          -0.00877636297317762,
          0.00867447565963933,
          0.051000297010850036,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 135,
        "nfev": 25,
        "njev": 11,
        "initial_support": [
          442,
          452,
          499
        ],
        "final_support": [
          439,
          460,
          508
        ],
        "cost": 1037.4927784851488,
        "sensitivity": {
          "common_supported": 1404,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2998.665090405934,
              704.0990298854568,
              368.25135308389997,
              77.15416596574816,
              53.13256427192345,
              26.81583761098511,
              3.6819275157578524
            ],
            "singular_ratio": 0.0012278555306286052,
            "bias_unexplained_fraction": 0.9827144771210397,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              368.97961898815527,
              74.26078201029014,
              16.864101699089485,
              12.281848265568108,
              8.445898282097156,
              1.2550009445713117,
              0.6798071750443446
            ],
            "singular_ratio": 0.0018423976286510485,
            "bias_unexplained_fraction": 0.9684293850037885,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.051723915113647226,
              -0.01679224287382068,
              -0.2683866153950232
            ],
            "rotation_quat_xyzw": [
              0.49246282232579175,
              -0.49366703680642315,
              0.4975138221298764,
              0.5159973083141066
            ]
          },
          "bias_m": 0.04344630962599602,
          "delta": [
            0.030178733594882854,
            -0.022634942005720006,
            -0.036661715195383505,
            -0.00877636297317762,
            0.00867447565963933,
            0.051000297010850036,
            0.04344630962599602
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 102,
          "nfev": 25,
          "njev": 11,
          "initial_support": [
            442,
            452,
            499
          ],
          "final_support": [
            439,
            460,
            508
          ],
          "cost": 1044.077312827254,
          "sensitivity": {
            "common_supported": 1404,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                2998.665090405934,
                704.0990298854568,
                368.2513530838998,
                77.15416596574818,
                53.13256427192346,
                26.815837610985117,
                3.681927515757904
              ],
              "singular_ratio": 0.0012278555306286223,
              "bias_unexplained_fraction": 0.9827144771210363,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                342.1908042779187,
                141.2122606968121,
                23.11371667044417,
                8.651858372159044,
                8.57821504084004,
                2.076424984552184,
                0.9045990803311456
              ],
              "singular_ratio": 0.0026435516940322367,
              "bias_unexplained_fraction": 0.9205314939197643,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.03344630962599602,
              "cost": 1044.2965133201483
            },
            {
              "bias_m": 0.05344630962599602,
              "cost": 1043.862438526291
            }
          ],
          "cost_before": 1044.0773128272542,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1037.4927784851488,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.4746026219787935,
        "translation_m": 0.12359608339148945,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4519303179986309
    },
    {
      "case_id": "2011_09_26_0011-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.5507347041444725,
            0.018708951717145705,
            -0.11729223595482828
          ],
          "rotation_quat_xyzw": [
            0.4883026258701817,
            -0.5021040225840246,
            0.5126559000785865,
            0.4966246310724439
          ]
        },
        "bias_m": 0.45696385667617323,
        "delta": [
          -1.496143114207709,
          -0.7233989000459745,
          0.22350957396419155,
          0.393682256284942,
          0.14417567025060574,
          0.10209467645104493,
          0.45696385667617323
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 176,
        "nfev": 36,
        "njev": 20,
        "initial_support": [
          555,
          611,
          635
        ],
        "final_support": [
          512,
          552,
          584
        ],
        "cost": 1035.6395600820597,
        "sensitivity": {
          "common_supported": 1644,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              480.6845679474995,
              428.83554747895477,
              211.3030024766594,
              36.01119005985557,
              10.189821546192617,
              6.907644142633096,
              3.8860644549066703
            ],
            "singular_ratio": 0.008084437724930473,
            "bias_unexplained_fraction": 0.9596874246146919,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              204.671605678204,
              81.07110851711785,
              12.370576084236225,
              3.1524052370174367,
              1.9339705472192354,
              1.331797590611461,
              0.4187789797406686
            ],
            "singular_ratio": 0.002046101990322468,
            "bias_unexplained_fraction": 0.9220821189143815,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.9306892533686635,
        "translation_m": 0.5250942940486881,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.38043632998596877
    },
    {
      "case_id": "2011_09_26_0011-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.09051700512288563,
            0.3429999903155453,
            0.7289924951406241
          ],
          "rotation_quat_xyzw": [
            0.4989018605851057,
            -0.4906253337488252,
            0.5147260305678987,
            0.4954198510802614
          ]
        },
        "bias_m": 0.4912015513198966,
        "delta": [
          -1.600985737802914,
          0.369243357381599,
          1.6646638486238892,
          -0.24756945298241603,
          0.4684667088490053,
          0.9483794075464974,
          0.4912015513198966
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 151,
        "nfev": 32,
        "njev": 17,
        "initial_support": [
          555,
          611,
          635
        ],
        "final_support": [
          517,
          549,
          586
        ],
        "cost": 1036.4478337458168,
        "sensitivity": {
          "common_supported": 1651,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2412.144568807048,
              1150.1903213761482,
              964.7158195693479,
              100.6940166368201,
              61.37901507870882,
              46.07421911583421,
              4.010500976820513
            ],
            "singular_ratio": 0.0016626287780105772,
            "bias_unexplained_fraction": 0.9870354829534896,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              121.09065624090624,
              83.0805440692552,
              61.15883990228171,
              3.82666419262535,
              3.366934117722274,
              1.1515818590128055,
              0.3607382826994317
            ],
            "singular_ratio": 0.0029790761227831953,
            "bias_unexplained_fraction": 0.9955050553433279,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.3514972528828872,
        "translation_m": 1.0925440820769396,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4060341289732605
    },
    {
      "case_id": "2011_09_26_0011-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.09051700512288563,
            0.3429999903155453,
            0.7289924951406241
          ],
          "rotation_quat_xyzw": [
            0.4989018605851057,
            -0.4906253337488252,
            0.5147260305678987,
            0.4954198510802614
          ]
        },
        "bias_m": 0.4912015513198966,
        "delta": [
          -1.600985737802914,
          0.369243357381599,
          1.6646638486238892,
          -0.24756945298241603,
          0.4684667088490053,
          0.9483794075464974,
          0.4912015513198966
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 151,
        "nfev": 32,
        "njev": 17,
        "initial_support": [
          555,
          611,
          635
        ],
        "final_support": [
          517,
          549,
          586
        ],
        "cost": 1036.4478337458168,
        "sensitivity": {
          "common_supported": 1651,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2412.144568807048,
              1150.1903213761482,
              964.7158195693479,
              100.6940166368201,
              61.37901507870882,
              46.07421911583421,
              4.010500976820513
            ],
            "singular_ratio": 0.0016626287780105772,
            "bias_unexplained_fraction": 0.9870354829534896,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              121.09065624090624,
              83.0805440692552,
              61.15883990228171,
              3.82666419262535,
              3.366934117722274,
              1.1515818590128055,
              0.3607382826994317
            ],
            "singular_ratio": 0.0029790761227831953,
            "bias_unexplained_fraction": 0.9955050553433279,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.09051700512288563,
              0.3429999903155453,
              0.7289924951406241
            ],
            "rotation_quat_xyzw": [
              0.4989018605851057,
              -0.4906253337488252,
              0.5147260305678987,
              0.4954198510802614
            ]
          },
          "bias_m": 0.4912015513198966,
          "delta": [
            -1.600985737802914,
            0.369243357381599,
            1.6646638486238892,
            -0.24756945298241603,
            0.4684667088490053,
            0.9483794075464974,
            0.4912015513198966
          ],
          "converged": false,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": false,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 151,
          "nfev": 32,
          "njev": 17,
          "initial_support": [
            555,
            611,
            635
          ],
          "final_support": [
            517,
            549,
            586
          ],
          "cost": 1036.4478337458168,
          "sensitivity": {
            "common_supported": 1651,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                2412.144568807048,
                1150.1903213761482,
                964.7158195693479,
                100.6940166368201,
                61.37901507870882,
                46.07421911583421,
                4.010500976820513
              ],
              "singular_ratio": 0.0016626287780105772,
              "bias_unexplained_fraction": 0.9870354829534896,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                121.09065624090624,
                83.0805440692552,
                61.15883990228171,
                3.82666419262535,
                3.366934117722274,
                1.1515818590128055,
                0.3607382826994317
              ],
              "singular_ratio": 0.0029790761227831953,
              "bias_unexplained_fraction": 0.9955050553433279,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": false,
          "adopted": false,
          "probes": [],
          "reason": "baseline not accepted or insufficient budget"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.3514972528828872,
        "translation_m": 1.0925440820769396,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4578868630051147
    },
    {
      "case_id": "2011_09_26_0011-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.29970584982519055,
            -0.24050737274531486,
            -0.17990206800432346
          ],
          "rotation_quat_xyzw": [
            0.4890885638174499,
            -0.4996290485781856,
            0.5068498014160895,
            0.5042484202893569
          ]
        },
        "bias_m": 0.37140145537569635,
        "delta": [
          -0.6886462195251386,
          -0.7579082407722074,
          0.15900354708997888,
          0.24265340196566018,
          -0.16504065421185485,
          0.08948484440154976,
          0.37140145537569635
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 151,
        "nfev": 32,
        "njev": 17,
        "initial_support": [
          542,
          583,
          612
        ],
        "final_support": [
          575,
          612,
          645
        ],
        "cost": 1013.7805150231178,
        "sensitivity": {
          "common_supported": 1831,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              590.888845235173,
              433.4673266629449,
              143.41126344690846,
              31.71893098898125,
              17.514841810608864,
              14.311487424639724,
              3.53095963934988
            ],
            "singular_ratio": 0.0059756748969335555,
            "bias_unexplained_fraction": 0.8275716369731164,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              54.811089168498555,
              33.53038155622491,
              24.682278401259204,
              8.459605681084991,
              3.4089330957451516,
              2.618298759895334,
              1.3487299541591147
            ],
            "singular_ratio": 0.024606881100517647,
            "bias_unexplained_fraction": 0.6377813252876765,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.0356083375115341,
        "translation_m": 0.30680063299438426,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.31085117199108936
    },
    {
      "case_id": "2011_09_26_0011-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2101726647663301,
            -0.19111743622179705,
            -0.12988022061699053
          ],
          "rotation_quat_xyzw": [
            0.4901865121010082,
            -0.5005657676175194,
            0.5042328017900483,
            0.5048765960536197
          ]
        },
        "bias_m": 0.2937014767270919,
        "delta": [
          -0.4559261360655783,
          -0.565908307471308,
          -0.021025230762006127,
          0.1531202169067997,
          -0.11565071768833705,
          0.13950669178888267,
          0.2937014767270919
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 118,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          542,
          583,
          612
        ],
        "final_support": [
          580,
          614,
          650
        ],
        "cost": 1038.986326259284,
        "sensitivity": {
          "common_supported": 1841,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1340.80987583531,
              441.169650882975,
              205.12360444126898,
              157.7565574437345,
              49.905918775146944,
              31.29074906366057,
              4.249909654759936
            ],
            "singular_ratio": 0.0031696586752184295,
            "bias_unexplained_fraction": 0.990523898085062,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              231.96382756165616,
              96.19098071237768,
              50.31949913865654,
              42.04630211356096,
              11.803126387124731,
              9.749032187677532,
              2.2918412854269814
            ],
            "singular_ratio": 0.009880166703223623,
            "bias_unexplained_fraction": 0.957627825482034,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.7270872703005035,
        "translation_m": 0.23724039786952628,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3275135369913187
    },
    {
      "case_id": "2011_09_26_0011-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2101726647663301,
            -0.19111743622179705,
            -0.12988022061699053
          ],
          "rotation_quat_xyzw": [
            0.4901865121010082,
            -0.5005657676175194,
            0.5042328017900483,
            0.5048765960536197
          ]
        },
        "bias_m": 0.3445461541904765,
        "delta": [
          -0.4559261360655783,
          -0.565908307471308,
          -0.021025230762006127,
          0.1531202169067997,
          -0.11565071768833705,
          0.13950669178888267,
          0.3445461541904765
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 134,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          542,
          583,
          612
        ],
        "final_support": [
          580,
          614,
          650
        ],
        "cost": 1038.766209031066,
        "sensitivity": {
          "common_supported": 1841,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1340.80987583531,
              441.169650882975,
              205.12360444126898,
              157.7565574437345,
              49.905918775146944,
              31.29074906366057,
              4.2499096547599375
            ],
            "singular_ratio": 0.0031696586752184308,
            "bias_unexplained_fraction": 0.990523898085062,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              218.0191278852099,
              90.29492059679181,
              51.106128080658735,
              39.259972796011986,
              12.853778300824718,
              8.992676233242497,
              1.9542503431895852
            ],
            "singular_ratio": 0.008963664620374618,
            "bias_unexplained_fraction": 0.9658716266449614,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.2101726647663301,
              -0.19111743622179705,
              -0.12988022061699053
            ],
            "rotation_quat_xyzw": [
              0.4901865121010082,
              -0.5005657676175194,
              0.5042328017900483,
              0.5048765960536197
            ]
          },
          "bias_m": 0.2937014767270919,
          "delta": [
            -0.4559261360655783,
            -0.565908307471308,
            -0.021025230762006127,
            0.1531202169067997,
            -0.11565071768833705,
            0.13950669178888267,
            0.2937014767270919
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 118,
          "nfev": 27,
          "njev": 13,
          "initial_support": [
            542,
            583,
            612
          ],
          "final_support": [
            580,
            614,
            650
          ],
          "cost": 1038.986326259284,
          "sensitivity": {
            "common_supported": 1841,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                1340.80987583531,
                441.169650882975,
                205.12360444126898,
                157.7565574437345,
                49.905918775146944,
                31.29074906366057,
                4.249909654759936
              ],
              "singular_ratio": 0.0031696586752184295,
              "bias_unexplained_fraction": 0.990523898085062,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                231.96382756165616,
                96.19098071237768,
                50.31949913865654,
                42.04630211356096,
                11.803126387124731,
                9.749032187677532,
                2.2918412854269814
              ],
              "singular_ratio": 0.009880166703223623,
              "bias_unexplained_fraction": 0.957627825482034,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.2837014767270919,
              "cost": 1039.1056173111942
            },
            {
              "bias_m": 0.3037014767270919,
              "cost": 1038.8972938188435
            }
          ],
          "cost_before": 1038.986326259284,
          "scalar_success": true,
          "candidate_bias_m": 0.3445461541904765,
          "candidate_cost": 1038.766209031066,
          "scalar_calls": 13,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.7270872703005035,
        "translation_m": 0.23724039786952628,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.386778260988649
    },
    {
      "case_id": "2011_09_26_0011-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.10409707664938772,
            -0.014100086877442335,
            -0.12443303842265918
          ],
          "rotation_quat_xyzw": [
            0.4834714002672248,
            -0.48502623890375907,
            0.5164543263238932,
            0.5140815903335346
          ]
        },
        "bias_m": 0.4125006281654832,
        "delta": [
          -1.9694560855707146,
          -1.181630973133451,
          1.192745251494974,
          -0.06114952450891812,
          0.011366631656017676,
          0.194953873983214,
          0.4125006281654832
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 125,
        "nfev": 27,
        "njev": 14,
        "initial_support": [
          497,
          536,
          561
        ],
        "final_support": [
          462,
          495,
          526
        ],
        "cost": 1006.4515375014878,
        "sensitivity": {
          "common_supported": 1482,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              192.89501500168032,
              83.39909824129059,
              79.9363553458586,
              15.940602492302489,
              7.747570608306438,
              4.993588969309248,
              2.594022526440036
            ],
            "singular_ratio": 0.013447846365638009,
            "bias_unexplained_fraction": 0.7319798151942648,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              9.464875383227573,
              7.356178460980045,
              3.368915488795681,
              0.8798482846567383,
              0.7931404797647319,
              0.29114515583679296,
              0.1182163160201958
            ],
            "singular_ratio": 0.01249000237548647,
            "bias_unexplained_fraction": 0.64822571484474,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 3.0365201036793135,
        "translation_m": 0.2252701895790858,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.25219437599298544
    },
    {
      "case_id": "2011_09_26_0011-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2250340106494981,
            -0.2351574459513125,
            0.5803911701646547
          ],
          "rotation_quat_xyzw": [
            0.48461814279057674,
            -0.4909598764962814,
            0.5130127036314057,
            0.5108048759181569
          ]
        },
        "bias_m": 0.4554162902488588,
        "delta": [
          -1.1828259046385832,
          -1.4691811562015669,
          0.9007203485198765,
          0.2679815627899677,
          -0.2096907274178525,
          0.8997780825705278,
          0.4554162902488588
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 100,
        "nfev": 23,
        "njev": 11,
        "initial_support": [
          497,
          536,
          561
        ],
        "final_support": [
          616,
          655,
          679
        ],
        "cost": 1015.4229863085741,
        "sensitivity": {
          "common_supported": 1947,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              5676.290215223075,
              759.7181188141681,
              535.6339576439078,
              139.89718902910369,
              93.31892559176333,
              31.755099406650686,
              4.299606730081244
            ],
            "singular_ratio": 0.0007574677416158631,
            "bias_unexplained_fraction": 0.9746151239562695,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              642.826359192847,
              18.24908860975606,
              4.648048285601146,
              1.5201423966732386,
              0.4277226895970948,
              0.3667798845174064,
              0.21780038983995825
            ],
            "singular_ratio": 0.00033881683089883756,
            "bias_unexplained_fraction": 0.8494846374549225,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.252756554574673,
        "translation_m": 0.8808187801573293,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.2871469609963242
    },
    {
      "case_id": "2011_09_26_0011-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-58",
          "full": 117148,
          "selected": 4096
        },
        {
          "frame": "frame-116",
          "full": 108418,
          "selected": 4096
        },
        {
          "frame": "frame-174",
          "full": 109466,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2250340106494981,
            -0.2351574459513125,
            0.5803911701646547
          ],
          "rotation_quat_xyzw": [
            0.48461814279057674,
            -0.4909598764962814,
            0.5130127036314057,
            0.5108048759181569
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          -1.1828259046385832,
          -1.4691811562015669,
          0.9007203485198765,
          0.2679815627899677,
          -0.2096907274178525,
          0.8997780825705278,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 133,
        "nfev": 23,
        "njev": 11,
        "initial_support": [
          497,
          536,
          561
        ],
        "final_support": [
          616,
          655,
          679
        ],
        "cost": 1015.1226940708357,
        "sensitivity": {
          "common_supported": 1947,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              5676.290215223075,
              759.7181188141681,
              535.6339576439078,
              139.89718902910369,
              93.31892559176332,
              31.755099406650686,
              4.2996067300808205
            ],
            "singular_ratio": 0.0007574677416157884,
            "bias_unexplained_fraction": 0.9746151239562748,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              636.1475224587668,
              18.302499640290296,
              4.652850304024163,
              1.3220999624241934,
              0.4428177233728963,
              0.36369621348520287,
              0.22266543519315757
            ],
            "singular_ratio": 0.0003500216967481628,
            "bias_unexplained_fraction": 0.8645874103663488,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.2250340106494981,
              -0.2351574459513125,
              0.5803911701646547
            ],
            "rotation_quat_xyzw": [
              0.48461814279057674,
              -0.4909598764962814,
              0.5130127036314057,
              0.5108048759181569
            ]
          },
          "bias_m": 0.4554162902488588,
          "delta": [
            -1.1828259046385832,
            -1.4691811562015669,
            0.9007203485198765,
            0.2679815627899677,
            -0.2096907274178525,
            0.8997780825705278,
            0.4554162902488588
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 100,
          "nfev": 23,
          "njev": 11,
          "initial_support": [
            497,
            536,
            561
          ],
          "final_support": [
            616,
            655,
            679
          ],
          "cost": 1015.4229863085741,
          "sensitivity": {
            "common_supported": 1947,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                5676.290215223075,
                759.7181188141681,
                535.6339576439078,
                139.89718902910369,
                93.31892559176333,
                31.755099406650686,
                4.299606730081244
              ],
              "singular_ratio": 0.0007574677416158631,
              "bias_unexplained_fraction": 0.9746151239562695,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                642.826359192847,
                18.24908860975606,
                4.648048285601146,
                1.5201423966732386,
                0.4277226895970948,
                0.3667798845174064,
                0.21780038983995825
              ],
              "singular_ratio": 0.00033881683089883756,
              "bias_unexplained_fraction": 0.8494846374549225,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.4454162902488588,
              "cost": 1015.4903689345933
            },
            {
              "bias_m": 0.46541629024885883,
              "cost": 1015.3556019556834
            }
          ],
          "cost_before": 1015.4229863085741,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1015.1226940708357,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.252756554574673,
        "translation_m": 0.8808187801573293,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4122068739961833
    },
    {
      "case_id": "2011_09_26_0013-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.20609311438386171,
            0.12832386605589707,
            0.035115503707700446
          ],
          "rotation_quat_xyzw": [
            0.49284936220534753,
            -0.4993682212147058,
            0.5002619590028724,
            0.5074138923888973
          ]
        },
        "bias_m": -0.13470113090198446,
        "delta": [
          -1.2959513499883941,
          1.014601187948229,
          -0.7005646774490253,
          0.04904066652433132,
          0.2537905845893571,
          0.25450241611357366,
          -0.13470113090198446
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 161,
        "nfev": 35,
        "njev": 18,
        "initial_support": [
          459,
          499,
          551
        ],
        "final_support": [
          412,
          463,
          510
        ],
        "cost": 1045.634495708935,
        "sensitivity": {
          "common_supported": 1383,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              376.5416887175363,
              217.38761744736885,
              55.44027511144451,
              28.091189244039786,
              11.83397044140557,
              7.138909781426114,
              2.6390839331455025
            ],
            "singular_ratio": 0.007008743021613253,
            "bias_unexplained_fraction": 0.7454035628456108,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              49.6137848556927,
              30.721358218040677,
              8.156261615705453,
              6.138450369291639,
              2.023285245370437,
              1.4436034166441265,
              0.6510244930182795
            ],
            "singular_ratio": 0.013121846980871502,
            "bias_unexplained_fraction": 0.8994164735040393,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.3386388408695816,
        "translation_m": 0.395557131226695,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4070687299827114
    },
    {
      "case_id": "2011_09_26_0013-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.14713169499490206,
            -0.17895374292679364,
            0.28830456265813337
          ],
          "rotation_quat_xyzw": [
            0.4960013896270203,
            -0.49479215345407085,
            0.501140742619969,
            0.5079579731184996
          ]
        },
        "bias_m": 0.40196568098698504,
        "delta": [
          -1.4595844296007332,
          1.4415399154392983,
          -0.2453501325235351,
          -0.30418414285443246,
          -0.05348702439333362,
          0.5076914750640066,
          0.40196568098698504
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 118,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          459,
          499,
          551
        ],
        "final_support": [
          493,
          537,
          635
        ],
        "cost": 1050.219339019709,
        "sensitivity": {
          "common_supported": 1654,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2740.9494500615197,
              1006.7624411826943,
              383.37297303048115,
              165.15808320453598,
              99.08937231750133,
              46.67557539864541,
              4.026896372616423
            ],
            "singular_ratio": 0.0014691611231743222,
            "bias_unexplained_fraction": 0.9901645391181301,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              489.12327015757114,
              271.04871902355245,
              102.15519873037451,
              43.19176054621649,
              22.63239472316661,
              16.654378538125638,
              1.5420868185248895
            ],
            "singular_ratio": 0.0031527570095532483,
            "bias_unexplained_fraction": 0.9853517299557625,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.6966553334078073,
        "translation_m": 0.6028436860165768,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3818012700066902
    },
    {
      "case_id": "2011_09_26_0013-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.14713169499490206,
            -0.17895374292679364,
            0.28830456265813337
          ],
          "rotation_quat_xyzw": [
            0.4960013896270203,
            -0.49479215345407085,
            0.501140742619969,
            0.5079579731184996
          ]
        },
        "bias_m": 0.3393080794997347,
        "delta": [
          -1.4595844296007332,
          1.4415399154392983,
          -0.2453501325235351,
          -0.30418414285443246,
          -0.05348702439333362,
          0.5076914750640066,
          0.3393080794997347
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 135,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          459,
          499,
          551
        ],
        "final_support": [
          493,
          537,
          635
        ],
        "cost": 1050.0902054686444,
        "sensitivity": {
          "common_supported": 1654,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              2740.949450061519,
              1006.7624411826941,
              383.37297303048126,
              165.15808320453598,
              99.08937231750132,
              46.67557539864539,
              4.026896372616501
            ],
            "singular_ratio": 0.001469161123174351,
            "bias_unexplained_fraction": 0.9901645391181296,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              494.3906567141264,
              290.86599421600516,
              119.7447183660554,
              45.28307771248185,
              23.014544665816548,
              18.622423710745696,
              1.860817017995873
            ],
            "singular_ratio": 0.003763859597111806,
            "bias_unexplained_fraction": 0.9799558886635604,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.14713169499490206,
              -0.17895374292679364,
              0.28830456265813337
            ],
            "rotation_quat_xyzw": [
              0.4960013896270203,
              -0.49479215345407085,
              0.501140742619969,
              0.5079579731184996
            ]
          },
          "bias_m": 0.40196568098698504,
          "delta": [
            -1.4595844296007332,
            1.4415399154392983,
            -0.2453501325235351,
            -0.30418414285443246,
            -0.05348702439333362,
            0.5076914750640066,
            0.40196568098698504
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 118,
          "nfev": 27,
          "njev": 13,
          "initial_support": [
            459,
            499,
            551
          ],
          "final_support": [
            493,
            537,
            635
          ],
          "cost": 1050.219339019709,
          "sensitivity": {
            "common_supported": 1654,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                2740.9494500615197,
                1006.7624411826943,
                383.37297303048115,
                165.15808320453598,
                99.08937231750133,
                46.67557539864541,
                4.026896372616423
              ],
              "singular_ratio": 0.0014691611231743222,
              "bias_unexplained_fraction": 0.9901645391181301,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                489.12327015757114,
                271.04871902355245,
                102.15519873037451,
                43.19176054621649,
                22.63239472316661,
                16.654378538125638,
                1.5420868185248895
              ],
              "singular_ratio": 0.0031527570095532483,
              "bias_unexplained_fraction": 0.9853517299557625,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.39196568098698503,
              "cost": 1050.1885265609103
            },
            {
              "bias_m": 0.41196568098698505,
              "cost": 1050.2510298719055
            }
          ],
          "cost_before": 1050.2193390197092,
          "scalar_success": true,
          "candidate_bias_m": 0.3393080794997347,
          "candidate_cost": 1050.0902054686444,
          "scalar_calls": 14,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.6966553334078073,
        "translation_m": 0.6028436860165768,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4437532590236515
    },
    {
      "case_id": "2011_09_26_0013-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.01640495159717066,
            -0.10695795252603457,
            -0.06318300302230109
          ],
          "rotation_quat_xyzw": [
            0.49354400622486866,
            -0.49829312343311105,
            0.49938878437530637,
            0.5086542235142996
          ]
        },
        "bias_m": -0.02973508813690486,
        "delta": [
          -0.3289009879370193,
          0.2486083462762281,
          -0.19965959659943855,
          -0.07345739945670106,
          -0.03149123399257456,
          0.2062039093835721,
          -0.02973508813690486
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 184,
        "nfev": 37,
        "njev": 21,
        "initial_support": [
          432,
          471,
          511
        ],
        "final_support": [
          448,
          488,
          549
        ],
        "cost": 1037.4157334554118,
        "sensitivity": {
          "common_supported": 1473,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              348.93393883309005,
              164.0610741614652,
              90.71609290635038,
              27.17737366611407,
              17.11981201304001,
              6.706359619503674,
              3.4505891252729888
            ],
            "singular_ratio": 0.009888946706681783,
            "bias_unexplained_fraction": 0.9069572034333792,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              35.551711968743206,
              21.225823975462955,
              10.176316104858454,
              6.628333486489788,
              3.488944716324269,
              2.504542940260983,
              1.196772321095001
            ],
            "singular_ratio": 0.03366286051561157,
            "bias_unexplained_fraction": 0.6644899778302048,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.45777794371755925,
        "translation_m": 0.22115094301943378,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3763483119837474
    },
    {
      "case_id": "2011_09_26_0013-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.038976431362938116,
            -0.14262951205145458,
            -0.1858775010471434
          ],
          "rotation_quat_xyzw": [
            0.49474942322746585,
            -0.49749066227530975,
            0.4990849472442114,
            0.5085668732813872
          ]
        },
        "bias_m": 0.13149802698170043,
        "delta": [
          -0.28260408651014035,
          0.3766794437369062,
          -0.09790459544268906,
          -0.09602887922246851,
          -0.06716279351799458,
          0.0835094113587298,
          0.13149802698170043
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 128,
        "nfev": 30,
        "njev": 14,
        "initial_support": [
          432,
          471,
          511
        ],
        "final_support": [
          445,
          481,
          542
        ],
        "cost": 1042.7925294860454,
        "sensitivity": {
          "common_supported": 1453,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              993.0780415052158,
              846.8436447684263,
              331.6377633967648,
              132.25774210849247,
              34.58580863967238,
              32.52240181619174,
              3.761500091240509
            ],
            "singular_ratio": 0.0037877185216372076,
            "bias_unexplained_fraction": 0.9868289631735379,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              404.8667347479524,
              269.6072102022626,
              56.9071069239424,
              44.33408739738842,
              14.64585661791799,
              8.274298538279755,
              2.2777010906544457
            ],
            "singular_ratio": 0.005625804481250889,
            "bias_unexplained_fraction": 0.972313621777905,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4807863787957814,
        "translation_m": 0.1438965192885004,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.4073833239963278
    },
    {
      "case_id": "2011_09_26_0013-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.038976431362938116,
            -0.14262951205145458,
            -0.1858775010471434
          ],
          "rotation_quat_xyzw": [
            0.49474942322746585,
            -0.49749066227530975,
            0.4990849472442114,
            0.5085668732813872
          ]
        },
        "bias_m": 0.17061474321914816,
        "delta": [
          -0.28260408651014035,
          0.3766794437369062,
          -0.09790459544268906,
          -0.09602887922246851,
          -0.06716279351799458,
          0.0835094113587298,
          0.17061474321914816
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 144,
        "nfev": 30,
        "njev": 14,
        "initial_support": [
          432,
          471,
          511
        ],
        "final_support": [
          445,
          481,
          542
        ],
        "cost": 1042.6099805787721,
        "sensitivity": {
          "common_supported": 1453,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              993.0780415052155,
              846.8436447684262,
              331.6377633967646,
              132.2577421084925,
              34.585808639672386,
              32.52240181619173,
              3.7615000912405323
            ],
            "singular_ratio": 0.0037877185216372315,
            "bias_unexplained_fraction": 0.9868289631735382,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              390.151494571929,
              274.0899733191124,
              57.50030741655338,
              42.45813815186475,
              14.855367991677385,
              7.218695312377712,
              2.078716926411761
            ],
            "singular_ratio": 0.005327973762326637,
            "bias_unexplained_fraction": 0.9739983311897963,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.038976431362938116,
              -0.14262951205145458,
              -0.1858775010471434
            ],
            "rotation_quat_xyzw": [
              0.49474942322746585,
              -0.49749066227530975,
              0.4990849472442114,
              0.5085668732813872
            ]
          },
          "bias_m": 0.13149802698170043,
          "delta": [
            -0.28260408651014035,
            0.3766794437369062,
            -0.09790459544268906,
            -0.09602887922246851,
            -0.06716279351799458,
            0.0835094113587298,
            0.13149802698170043
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 128,
          "nfev": 30,
          "njev": 14,
          "initial_support": [
            432,
            471,
            511
          ],
          "final_support": [
            445,
            481,
            542
          ],
          "cost": 1042.7925294860454,
          "sensitivity": {
            "common_supported": 1453,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                993.0780415052158,
                846.8436447684263,
                331.6377633967648,
                132.25774210849247,
                34.58580863967238,
                32.52240181619174,
                3.761500091240509
              ],
              "singular_ratio": 0.0037877185216372076,
              "bias_unexplained_fraction": 0.9868289631735379,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                404.8667347479524,
                269.6072102022626,
                56.9071069239424,
                44.33408739738842,
                14.64585661791799,
                8.274298538279755,
                2.2777010906544457
              ],
              "singular_ratio": 0.005625804481250889,
              "bias_unexplained_fraction": 0.972313621777905,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.12149802698170044,
              "cost": 1042.9094757531516
            },
            {
              "bias_m": 0.14149802698170044,
              "cost": 1042.7069052345423
            }
          ],
          "cost_before": 1042.7925294860456,
          "scalar_success": true,
          "candidate_bias_m": 0.17061474321914816,
          "candidate_cost": 1042.6099805787721,
          "scalar_calls": 13,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4807863787957814,
        "translation_m": 0.1438965192885004,
        "recovered": true
      },
      "accepted_pose_recovered": true,
      "seconds_including_diagnostics": 0.47469460501451977
    },
    {
      "case_id": "2011_09_26_0013-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.031689188432051735,
            0.03646942199340604,
            -0.21819525582060734
          ],
          "rotation_quat_xyzw": [
            0.47767101082041974,
            -0.49640019705616495,
            0.5020840619590269,
            0.5228086117415466
          ]
        },
        "bias_m": 0.0986024754812803,
        "delta": [
          -1.3225751294725863,
          -0.9140763628521594,
          -1.1348281057739116,
          0.011258363708417873,
          0.06193614052686605,
          0.10119165658526584,
          0.0986024754812803
        ],
        "converged": false,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": false,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 183,
        "nfev": 36,
        "njev": 21,
        "initial_support": [
          408,
          423,
          473
        ],
        "final_support": [
          357,
          406,
          467
        ],
        "cost": 1025.6323335034706,
        "sensitivity": {
          "common_supported": 1223,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              154.72955390750693,
              128.55976020269605,
              42.92075580652748,
              11.172200485589801,
              6.589462029419216,
              4.6624800867746865,
              1.9947774856992297
            ],
            "singular_ratio": 0.01289202634741423,
            "bias_unexplained_fraction": 0.6520058802394522,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              14.76605858487413,
              9.334634027817506,
              2.593357627722554,
              1.9406197136587169,
              1.364290718439112,
              1.1302197547480233,
              0.40280001327964693
            ],
            "singular_ratio": 0.027278776591897185,
            "bias_unexplained_fraction": 0.5109916667926898,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.846836660565974,
        "translation_m": 0.15174110607116828,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3690423409861978
    },
    {
      "case_id": "2011_09_26_0013-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.1800202278132792,
            -0.08942086844853837,
            -0.2757999569774845
          ],
          "rotation_quat_xyzw": [
            0.495705073294863,
            -0.48645786936908286,
            0.49766665779792607,
            0.5195797526413714
          ]
        },
        "bias_m": 0.12356238446792296,
        "delta": [
          -0.3976903215136717,
          0.7837194206022208,
          0.3555511592260818,
          -0.1370726756728096,
          -0.06395414991507836,
          0.043586955428388696,
          0.12356238446792296
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 84,
        "nfev": 21,
        "njev": 9,
        "initial_support": [
          408,
          423,
          473
        ],
        "final_support": [
          410,
          439,
          500
        ],
        "cost": 1037.040323287921,
        "sensitivity": {
          "common_supported": 1341,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              704.773912053596,
              148.54187544220596,
              43.430442256683065,
              27.27943953420466,
              5.314677891996093,
              4.533082056414701,
              2.188662383646249
            ],
            "singular_ratio": 0.003105481554033186,
            "bias_unexplained_fraction": 0.7476933548110732,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              32.46480041411664,
              3.8641972278687136,
              3.260260191906129,
              1.1880744222089226,
              0.7865138874760116,
              0.5620366962283795,
              0.24431178391031047
            ],
            "singular_ratio": 0.007525436189161866,
            "bias_unexplained_fraction": 0.4025325105934681,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.2712081645301,
        "translation_m": 0.23756956663511242,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.2783884249802213
    },
    {
      "case_id": "2011_09_26_0013-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-35",
          "full": 118734,
          "selected": 4096
        },
        {
          "frame": "frame-71",
          "full": 121685,
          "selected": 4096
        },
        {
          "frame": "frame-107",
          "full": 122030,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.1800202278132792,
            -0.08942086844853837,
            -0.2757999569774845
          ],
          "rotation_quat_xyzw": [
            0.495705073294863,
            -0.48645786936908286,
            0.49766665779792607,
            0.5195797526413714
          ]
        },
        "bias_m": 0.49999950580767555,
        "delta": [
          -0.3976903215136717,
          0.7837194206022208,
          0.3555511592260818,
          -0.1370726756728096,
          -0.06395414991507836,
          0.043586955428388696,
          0.49999950580767555
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 118,
        "nfev": 21,
        "njev": 9,
        "initial_support": [
          408,
          423,
          473
        ],
        "final_support": [
          410,
          439,
          500
        ],
        "cost": 1035.8503610911202,
        "sensitivity": {
          "common_supported": 1341,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              704.773912053596,
              148.54187544220596,
              43.43044225668309,
              27.27943953420466,
              5.314677891996088,
              4.5330820564147025,
              2.1886623836462635
            ],
            "singular_ratio": 0.0031054815540332067,
            "bias_unexplained_fraction": 0.7476933548110829,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              32.71462449179925,
              2.6970089388225174,
              1.5622947920422392,
              0.5208570659905407,
              0.3059048164716119,
              0.13633383701112142,
              0.10774350505180137
            ],
            "singular_ratio": 0.0032934354810891997,
            "bias_unexplained_fraction": 0.5069531410673115,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.1800202278132792,
              -0.08942086844853837,
              -0.2757999569774845
            ],
            "rotation_quat_xyzw": [
              0.495705073294863,
              -0.48645786936908286,
              0.49766665779792607,
              0.5195797526413714
            ]
          },
          "bias_m": 0.12356238446792296,
          "delta": [
            -0.3976903215136717,
            0.7837194206022208,
            0.3555511592260818,
            -0.1370726756728096,
            -0.06395414991507836,
            0.043586955428388696,
            0.12356238446792296
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 84,
          "nfev": 21,
          "njev": 9,
          "initial_support": [
            408,
            423,
            473
          ],
          "final_support": [
            410,
            439,
            500
          ],
          "cost": 1037.040323287921,
          "sensitivity": {
            "common_supported": 1341,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                704.773912053596,
                148.54187544220596,
                43.430442256683065,
                27.27943953420466,
                5.314677891996093,
                4.533082056414701,
                2.188662383646249
              ],
              "singular_ratio": 0.003105481554033186,
              "bias_unexplained_fraction": 0.7476933548110732,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                32.46480041411664,
                3.8641972278687136,
                3.260260191906129,
                1.1880744222089226,
                0.7865138874760116,
                0.5620366962283795,
                0.24431178391031047
              ],
              "singular_ratio": 0.007525436189161866,
              "bias_unexplained_fraction": 0.4025325105934681,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.11356238446792297,
              "cost": 1037.0820737924641
            },
            {
              "bias_m": 0.13356238446792296,
              "cost": 1037.0013853686082
            }
          ],
          "cost_before": 1037.0403232879212,
          "scalar_success": true,
          "candidate_bias_m": 0.49999950580767555,
          "candidate_cost": 1035.8503610911202,
          "scalar_calls": 31,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 2.2712081645301,
        "translation_m": 0.23756956663511242,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.35804673298844136
    },
    {
      "case_id": "2011_09_26_0015-positive",
      "start": "positive",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.22337182607193296,
            -0.18199942249108214,
            0.14092374194665652
          ],
          "rotation_quat_xyzw": [
            0.4871302761930042,
            -0.5006981530147862,
            0.5042106326958519,
            0.5077175311727559
          ]
        },
        "bias_m": 0.4833423553351641,
        "delta": [
          -1.7868310822267417,
          0.39687852845160193,
          -0.8968001523948184,
          0.06631937821240257,
          -0.0565327039576221,
          0.36031065435252974,
          0.4833423553351641
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 127,
        "nfev": 29,
        "njev": 14,
        "initial_support": [
          535,
          510,
          498
        ],
        "final_support": [
          545,
          530,
          509
        ],
        "cost": 1043.3691206462124,
        "sensitivity": {
          "common_supported": 1578,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              398.22906570530034,
              226.98779988375176,
              112.68650649459842,
              27.362346985362215,
              19.522471132941153,
              7.110628762000813,
              3.2379091040936094
            ],
            "singular_ratio": 0.008130770410640354,
            "bias_unexplained_fraction": 0.8359981192904715,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              59.983635760649605,
              39.664948438902925,
              9.022783171453446,
              4.19745038074338,
              3.7324822145706356,
              1.1648912414079817,
              0.6312827138905023
            ],
            "singular_ratio": 0.010524248920313624,
            "bias_unexplained_fraction": 0.9245659410381748,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.0464683522249636,
        "translation_m": 0.45537477494552075,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.2693145670054946
    },
    {
      "case_id": "2011_09_26_0015-positive",
      "start": "positive",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.1922909399133092,
            0.05818099447001521,
            0.2236939725779924
          ],
          "rotation_quat_xyzw": [
            0.49786384755051427,
            -0.49762044769676234,
            0.508716127678936,
            0.49569484642834527
          ]
        },
        "bias_m": 0.3517125924901866,
        "delta": [
          -0.92748602563241,
          0.25512208915188633,
          0.8526352871304244,
          0.03523849205377879,
          0.18364771300347524,
          0.4430808849838656,
          0.3517125924901866
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 84,
        "nfev": 21,
        "njev": 9,
        "initial_support": [
          535,
          510,
          498
        ],
        "final_support": [
          515,
          491,
          488
        ],
        "cost": 1122.5217831907385,
        "sensitivity": {
          "common_supported": 1488,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3658.1895096635894,
              2353.906052889388,
              849.1933918496358,
              187.7036651445971,
              149.13765894921693,
              52.84644424097063,
              3.8201219395876387
            ],
            "singular_ratio": 0.00104426573021881,
            "bias_unexplained_fraction": 0.9903260205071719,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              227.947422699094,
              222.65014200398878,
              82.74154800692163,
              28.3722179711888,
              2.2307814079902966,
              1.5434145578402896,
              0.6994253751980897
            ],
            "singular_ratio": 0.0030683627255631593,
            "bias_unexplained_fraction": 0.9344249785995148,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.556581657181103,
        "translation_m": 0.5284694126063602,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.24728991099982522
    },
    {
      "case_id": "2011_09_26_0015-positive",
      "start": "positive",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.1922909399133092,
            0.05818099447001521,
            0.2236939725779924
          ],
          "rotation_quat_xyzw": [
            0.49786384755051427,
            -0.49762044769676234,
            0.508716127678936,
            0.49569484642834527
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          -0.92748602563241,
          0.25512208915188633,
          0.8526352871304244,
          0.03523849205377879,
          0.18364771300347524,
          0.4430808849838656,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 117,
        "nfev": 21,
        "njev": 9,
        "initial_support": [
          535,
          510,
          498
        ],
        "final_support": [
          515,
          491,
          488
        ],
        "cost": 1117.8324551417636,
        "sensitivity": {
          "common_supported": 1488,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              3658.1895096635903,
              2353.906052889388,
              849.1933918496354,
              187.70366514459718,
              149.13765894921693,
              52.84644424097068,
              3.8201219395873456
            ],
            "singular_ratio": 0.0010442657302187296,
            "bias_unexplained_fraction": 0.9903260205071696,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              261.49956956953696,
              232.84212179424955,
              85.13096720015746,
              28.579126976097236,
              1.8193854643692158,
              1.0329014431466002,
              0.5941770337988332
            ],
            "singular_ratio": 0.0022721912497864817,
            "bias_unexplained_fraction": 0.8994231228279808,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.1922909399133092,
              0.05818099447001521,
              0.2236939725779924
            ],
            "rotation_quat_xyzw": [
              0.49786384755051427,
              -0.49762044769676234,
              0.508716127678936,
              0.49569484642834527
            ]
          },
          "bias_m": 0.3517125924901866,
          "delta": [
            -0.92748602563241,
            0.25512208915188633,
            0.8526352871304244,
            0.03523849205377879,
            0.18364771300347524,
            0.4430808849838656,
            0.3517125924901866
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 84,
          "nfev": 21,
          "njev": 9,
          "initial_support": [
            535,
            510,
            498
          ],
          "final_support": [
            515,
            491,
            488
          ],
          "cost": 1122.5217831907385,
          "sensitivity": {
            "common_supported": 1488,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                3658.1895096635894,
                2353.906052889388,
                849.1933918496358,
                187.7036651445971,
                149.13765894921693,
                52.84644424097063,
                3.8201219395876387
              ],
              "singular_ratio": 0.00104426573021881,
              "bias_unexplained_fraction": 0.9903260205071719,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                227.947422699094,
                222.65014200398878,
                82.74154800692163,
                28.3722179711888,
                2.2307814079902966,
                1.5434145578402896,
                0.6994253751980897
              ],
              "singular_ratio": 0.0030683627255631593,
              "bias_unexplained_fraction": 0.9344249785995148,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.3417125924901866,
              "cost": 1122.8438982525192
            },
            {
              "bias_m": 0.3617125924901866,
              "cost": 1122.2003573023546
            }
          ],
          "cost_before": 1122.5217831907387,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1117.8324551417636,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.556581657181103,
        "translation_m": 0.5284694126063602,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.34839382200152613
    },
    {
      "case_id": "2011_09_26_0015-reference",
      "start": "reference",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2364705024204985,
            -0.30591144256166136,
            -0.09865028837833806
          ],
          "rotation_quat_xyzw": [
            0.48728333297834225,
            -0.4971240080107425,
            0.5079073805785798,
            0.5073980358797804
          ]
        },
        "bias_m": 0.4271342999897962,
        "delta": [
          -1.175221811882806,
          -0.5959396979920075,
          0.07996973211035141,
          0.1794180545609681,
          -0.23044472402820132,
          0.17073662402753514,
          0.4271342999897962
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 152,
        "nfev": 33,
        "njev": 17,
        "initial_support": [
          502,
          487,
          478
        ],
        "final_support": [
          546,
          528,
          509
        ],
        "cost": 1035.9524519745087,
        "sensitivity": {
          "common_supported": 1579,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              684.5276420779817,
              341.3268452224021,
              289.0565198531275,
              38.48659964956949,
              25.20497072932486,
              7.610338960398562,
              3.474773815816673
            ],
            "singular_ratio": 0.005076162892806636,
            "bias_unexplained_fraction": 0.8854710825681864,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              41.798002945964605,
              37.56840573457466,
              18.05532112063242,
              7.312593849190578,
              4.154624071588508,
              1.852728516730823,
              1.0476469462946771
            ],
            "singular_ratio": 0.025064521566952574,
            "bias_unexplained_fraction": 0.7074259268449627,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.319733055033181,
        "translation_m": 0.3382995771785656,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.3311002139816992
    },
    {
      "case_id": "2011_09_26_0015-reference",
      "start": "reference",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.12307843828279036,
            -0.20382662759379033,
            -0.07778526331927704
          ],
          "rotation_quat_xyzw": [
            0.49202590232820453,
            -0.49902151491098556,
            0.5027136712422877,
            0.5061294338804673
          ]
        },
        "bias_m": 0.36992423673556196,
        "delta": [
          -0.4220032965540655,
          -0.2130860981989205,
          0.010716763266024125,
          0.06602599042325996,
          -0.12835990906033032,
          0.19160164908659616,
          0.36992423673556196
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 101,
        "nfev": 24,
        "njev": 11,
        "initial_support": [
          502,
          487,
          478
        ],
        "final_support": [
          542,
          530,
          524
        ],
        "cost": 1052.8932944113835,
        "sensitivity": {
          "common_supported": 1587,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              4108.397143449085,
              1352.9582235802015,
              334.5842032076056,
              278.34708211725194,
              67.27304509250442,
              36.54951064099921,
              3.95428010716315
            ],
            "singular_ratio": 0.0009624873080900474,
            "bias_unexplained_fraction": 0.9926135456642113,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              447.0295634736668,
              79.16735798858446,
              55.97714721630321,
              52.28474412120081,
              16.098914847128533,
              15.847068913619236,
              2.1057161575886125
            ],
            "singular_ratio": 0.00471046286340893,
            "bias_unexplained_fraction": 0.987403185223817,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4728533506164538,
        "translation_m": 0.23988932781191377,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.29884779901476577
    },
    {
      "case_id": "2011_09_26_0015-reference",
      "start": "reference",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.12307843828279036,
            -0.20382662759379033,
            -0.07778526331927704
          ],
          "rotation_quat_xyzw": [
            0.49202590232820453,
            -0.49902151491098556,
            0.5027136712422877,
            0.5061294338804673
          ]
        },
        "bias_m": 0.499999475660355,
        "delta": [
          -0.4220032965540655,
          -0.2130860981989205,
          0.010716763266024125,
          0.06602599042325996,
          -0.12835990906033032,
          0.19160164908659616,
          0.499999475660355
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 133,
        "nfev": 24,
        "njev": 11,
        "initial_support": [
          502,
          487,
          478
        ],
        "final_support": [
          542,
          530,
          524
        ],
        "cost": 1051.0115714635613,
        "sensitivity": {
          "common_supported": 1587,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              4108.397143449085,
              1352.958223580202,
              334.5842032076055,
              278.3470821172519,
              67.27304509250438,
              36.54951064099922,
              3.954280107163029
            ],
            "singular_ratio": 0.000962487308090018,
            "bias_unexplained_fraction": 0.9926135456642118,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              400.6161040417545,
              78.03548769037499,
              53.73706134846329,
              48.80397771252584,
              13.285016118796994,
              9.690074345702874,
              1.3994415989369433
            ],
            "singular_ratio": 0.003493223524511849,
            "bias_unexplained_fraction": 0.9951946704647129,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              0.12307843828279036,
              -0.20382662759379033,
              -0.07778526331927704
            ],
            "rotation_quat_xyzw": [
              0.49202590232820453,
              -0.49902151491098556,
              0.5027136712422877,
              0.5061294338804673
            ]
          },
          "bias_m": 0.36992423673556196,
          "delta": [
            -0.4220032965540655,
            -0.2130860981989205,
            0.010716763266024125,
            0.06602599042325996,
            -0.12835990906033032,
            0.19160164908659616,
            0.36992423673556196
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 101,
          "nfev": 24,
          "njev": 11,
          "initial_support": [
            502,
            487,
            478
          ],
          "final_support": [
            542,
            530,
            524
          ],
          "cost": 1052.8932944113835,
          "sensitivity": {
            "common_supported": 1587,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                4108.397143449085,
                1352.9582235802015,
                334.5842032076056,
                278.34708211725194,
                67.27304509250442,
                36.54951064099921,
                3.95428010716315
              ],
              "singular_ratio": 0.0009624873080900474,
              "bias_unexplained_fraction": 0.9926135456642113,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                447.0295634736668,
                79.16735798858446,
                55.97714721630321,
                52.28474412120081,
                16.098914847128533,
                15.847068913619236,
                2.1057161575886125
              ],
              "singular_ratio": 0.00471046286340893,
              "bias_unexplained_fraction": 0.987403185223817,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.35992423673556195,
              "cost": 1053.1336343593562
            },
            {
              "bias_m": 0.37992423673556197,
              "cost": 1052.6771891058138
            }
          ],
          "cost_before": 1052.8932944113835,
          "scalar_success": true,
          "candidate_bias_m": 0.499999475660355,
          "candidate_cost": 1051.0115714635613,
          "scalar_calls": 29,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4728533506164538,
        "translation_m": 0.23988932781191377,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4149288250191603
    },
    {
      "case_id": "2011_09_26_0015-negative",
      "start": "negative",
      "method": "bilinear",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.021731736251745737,
            -0.13106957471702346,
            -0.19180883379387112
          ],
          "rotation_quat_xyzw": [
            0.491874701960288,
            -0.49135375626962724,
            0.5024765998898555,
            0.5139533347827758
          ]
        },
        "bias_m": 0.1276396245631815,
        "delta": [
          -0.3029867776274868,
          -0.3138092066576853,
          0.4715676433585193,
          0.06467928839221534,
          -0.10560285618356345,
          0.12757807861200207,
          0.1276396245631815
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 110,
        "nfev": 26,
        "njev": 12,
        "initial_support": [
          474,
          436,
          429
        ],
        "final_support": [
          491,
          471,
          461
        ],
        "cost": 1070.3123608963854,
        "sensitivity": {
          "common_supported": 1420,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              647.0515709244644,
              452.9897595723571,
              161.07950128402402,
              33.49253315141031,
              19.51458941005734,
              14.333694379673084,
              3.2787726176475327
            ],
            "singular_ratio": 0.005067250842097547,
            "bias_unexplained_fraction": 0.8740401262651104,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              27.266402236819808,
              22.91228252840917,
              12.068840216706606,
              1.8261952815695905,
              1.1089746911853509,
              0.5854264102584549,
              0.3935282648462442
            ],
            "singular_ratio": 0.014432716917629651,
            "bias_unexplained_fraction": 0.8727817019522622,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.4691781865872626,
        "translation_m": 0.10177223867725574,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.24909568598377518
    },
    {
      "case_id": "2011_09_26_0015-negative",
      "start": "negative",
      "method": "edge",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.03299603482363465,
            -0.02327169138250526,
            -0.2304030067146374
          ],
          "rotation_quat_xyzw": [
            0.4930153188897558,
            -0.4927406565238491,
            0.4979762436938381,
            0.5159091019405005
          ]
        },
        "bias_m": 0.06073784051213806,
        "delta": [
          -0.0111275378084998,
          0.03256936007482795,
          0.07923830385393081,
          0.009951517316834961,
          0.00219502715095475,
          0.08898390569123579,
          0.06073784051213806
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 118,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          474,
          436,
          429
        ],
        "final_support": [
          470,
          443,
          435
        ],
        "cost": 1082.3353958090556,
        "sensitivity": {
          "common_supported": 1343,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1318.1309382930272,
              783.2846102659822,
              608.1847994073463,
              44.02255766135343,
              43.08599350582966,
              18.280692386813918,
              3.5724216261885675
            ],
            "singular_ratio": 0.0027102175682294774,
            "bias_unexplained_fraction": 0.975046263372472,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              170.6157557534201,
              16.180228715072285,
              3.7969521727899904,
              2.658720804376225,
              0.7411338080805262,
              0.5653390769910637,
              0.43515312330729233
            ],
            "singular_ratio": 0.002550486157539817,
            "bias_unexplained_fraction": 0.913400178180896,
            "near_degenerate": false
          }
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.5028146021685955,
        "translation_m": 0.11114312842354379,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.35357864599791355
    },
    {
      "case_id": "2011_09_26_0015-negative",
      "start": "negative",
      "method": "edge_rescue",
      "point_counts": [
        {
          "frame": "frame-74",
          "full": 123619,
          "selected": 4096
        },
        {
          "frame": "frame-148",
          "full": 122781,
          "selected": 4096
        },
        {
          "frame": "frame-222",
          "full": 116568,
          "selected": 4096
        }
      ],
      "result": {
        "transform": {
          "translation_m": [
            -0.03299603482363465,
            -0.02327169138250526,
            -0.2304030067146374
          ],
          "rotation_quat_xyzw": [
            0.4930153188897558,
            -0.4927406565238491,
            0.4979762436938381,
            0.5159091019405005
          ]
        },
        "bias_m": 0.4999994710716215,
        "delta": [
          -0.0111275378084998,
          0.03256936007482795,
          0.07923830385393081,
          0.009951517316834961,
          0.00219502715095475,
          0.08898390569123579,
          0.4999994710716215
        ],
        "converged": true,
        "optimizer_success": true,
        "locally_identifiable": true,
        "accepted": true,
        "status": 2,
        "message": "`ftol` termination condition is satisfied.",
        "actual_residual_calls": 151,
        "nfev": 27,
        "njev": 13,
        "initial_support": [
          474,
          436,
          429
        ],
        "final_support": [
          470,
          443,
          435
        ],
        "cost": 1075.4308510228764,
        "sensitivity": {
          "common_supported": 1343,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              1318.130938293027,
              783.2846102659822,
              608.1847994073463,
              44.022557661353396,
              43.085993505829684,
              18.280692386813914,
              3.572421626188498
            ],
            "singular_ratio": 0.002710217568229425,
            "bias_unexplained_fraction": 0.9750462633724738,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              125.3504031672965,
              17.538062741536077,
              4.071133315765341,
              1.8311937015628923,
              0.7426950557816808,
              0.4518252592416343,
              0.36096540963604373
            ],
            "singular_ratio": 0.002879650966533296,
            "bias_unexplained_fraction": 0.9219335277521491,
            "near_degenerate": false
          }
        },
        "baseline_fit": {
          "transform": {
            "translation_m": [
              -0.03299603482363465,
              -0.02327169138250526,
              -0.2304030067146374
            ],
            "rotation_quat_xyzw": [
              0.4930153188897558,
              -0.4927406565238491,
              0.4979762436938381,
              0.5159091019405005
            ]
          },
          "bias_m": 0.06073784051213806,
          "delta": [
            -0.0111275378084998,
            0.03256936007482795,
            0.07923830385393081,
            0.009951517316834961,
            0.00219502715095475,
            0.08898390569123579,
            0.06073784051213806
          ],
          "converged": true,
          "optimizer_success": true,
          "locally_identifiable": true,
          "accepted": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 118,
          "nfev": 27,
          "njev": 13,
          "initial_support": [
            474,
            436,
            429
          ],
          "final_support": [
            470,
            443,
            435
          ],
          "cost": 1082.3353958090556,
          "sensitivity": {
            "common_supported": 1343,
            "diagnostic_passes": 15,
            "raw": {
              "available": true,
              "scaled_singular_values": [
                1318.1309382930272,
                783.2846102659822,
                608.1847994073463,
                44.02255766135343,
                43.08599350582966,
                18.280692386813918,
                3.5724216261885675
              ],
              "singular_ratio": 0.0027102175682294774,
              "bias_unexplained_fraction": 0.975046263372472,
              "near_degenerate": false
            },
            "robust": {
              "available": true,
              "scaled_singular_values": [
                170.6157557534201,
                16.180228715072285,
                3.7969521727899904,
                2.658720804376225,
                0.7411338080805262,
                0.5653390769910637,
                0.43515312330729233
              ],
              "singular_ratio": 0.002550486157539817,
              "bias_unexplained_fraction": 0.913400178180896,
              "near_degenerate": false
            }
          }
        },
        "rescue": {
          "triggered": true,
          "adopted": true,
          "probes": [
            {
              "bias_m": 0.05073784051213806,
              "cost": 1082.5063277773147
            },
            {
              "bias_m": 0.07073784051213806,
              "cost": 1082.1651526328092
            }
          ],
          "cost_before": 1082.3353958090556,
          "scalar_success": true,
          "candidate_bias_m": 0.4999994710716215,
          "candidate_cost": 1075.4308510228764,
          "scalar_calls": 30,
          "convergence_scope": "baseline joint termination plus scalar termination"
        }
      },
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 1.5028146021685955,
        "translation_m": 0.11114312842354379,
        "recovered": false
      },
      "accepted_pose_recovered": false,
      "seconds_including_diagnostics": 0.4733679729979485
    }
  ]
}
