{
  "artifacts": {},
  "candidate_extrinsics": {
    "T_camera_2_lidar": {
      "child": "lidar",
      "convention": "T_parent_child",
      "estimate_id": "controlled-public-demo-initial",
      "parent": "camera_2",
      "provenance": {
        "adapter_version": "calibrex.public_six_dof_demo/v0.3",
        "command": "calibrex demo kitti-six-dof ${DATASET_ROOT}/calibrex_camera_lidar_v06/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync ${DATASET_ROOT}/calibrex_camera_lidar_v06/runs/kitti_raw_0018/featdepth-provider.json --candidate-backend numba_cpu --candidate-frame-workers 2 --repetitions 3 --output-dir outputs/public-kitti-six-dof-fused-cpu-v1 --json",
        "evidence_level": "unknown",
        "execution_mode": "offline_batch",
        "notes": [
          "Controlled demo initialization: dataset reference plus fixed local Euler offsets. Rotation deg xyz=(0.5, 0.0, 0.0); camera-frame translation m xyz=(0.5, 0.0, 0.0). This is not an independently measured prior."
        ],
        "producer": "slac_native",
        "role_in_comparison": "candidate",
        "source": "controlled perturbation of dataset reference",
        "source_commit": "f00c54b",
        "tool_name": "Calibrex",
        "tool_version": "0.5.1"
      },
      "quality": {
        "grade": "warn",
        "std_rotation_deg": [],
        "std_translation_m": []
      },
      "rotation_quat_xyzw": [
        -0.5013224857079878,
        0.5062477258813893,
        -0.4946130885838785,
        -0.49774179849094685
      ],
      "translation_m": [
        0.5562465542111917,
        -0.07481401634273016,
        -0.32779358344330395
      ]
    }
  },
  "degeneracy": {
    "grade": "warn",
    "reason": "D2D observability has not been evaluated."
  },
  "export": {},
  "frame_graph": {
    "convention": "T_parent_child",
    "frames": {
      "camera_2": null,
      "lidar": "camera_2"
    },
    "root": "camera_2"
  },
  "metrics": {
    "final_d2d_mutual_information": {
      "grade": "warn",
      "holdout": 1.2934945423757032,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 1.2342895217787462,
      "unit": "nat"
    },
    "final_d2d_normalized_mutual_information": {
      "grade": "warn",
      "holdout": 0.4839767354803577,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 0.46659193360127393,
      "unit": "ratio"
    },
    "final_d2d_visible_point_count": {
      "grade": "warn",
      "holdout": 95960.0,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 382149.0,
      "unit": "count"
    },
    "initial_d2d_mutual_information": {
      "grade": "warn",
      "holdout": 1.085692902551319,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 1.0647690513474277,
      "unit": "nat"
    },
    "initial_d2d_normalized_mutual_information": {
      "grade": "warn",
      "holdout": 0.40979798013242624,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 0.4053974973569421,
      "unit": "ratio"
    },
    "initial_d2d_visible_point_count": {
      "grade": "warn",
      "holdout": 102551.0,
      "reason": "D2D objective evidence; no accuracy or acceptance threshold was applied.",
      "train": 407007.0,
      "unit": "count"
    }
  },
  "observability": {
    "grade": "warn",
    "weak_directions": []
  },
  "quality": {
    "blocking_failures": [],
    "grade": "warn",
    "recommendation": [
      "Validate the output on independent observations before deployment."
    ],
    "warnings": [
      "Optimizer convergence does not establish calibration accuracy; observability and covariance were not estimated."
    ]
  },
  "reference_extrinsics": {
    "T_camera_2_lidar": {
      "child": "lidar",
      "convention": "T_parent_child",
      "parent": "camera_2",
      "provenance": {
        "adapter_version": "calibrex.kitti_camera_lidar_problem/v0.2",
        "evidence_level": "dataset_provided",
        "execution_mode": "imported",
        "notes": [
          "calib_velo_to_cam transformed through R_rect_00 and the selected P_rect_XX camera-origin offset"
        ],
        "producer": "dataset_provider",
        "role_in_comparison": "selected_reference",
        "source": "KITTI raw calibration",
        "source_path": "${DATASET_ROOT}/calibrex_camera_lidar_v06/kitti_raw/2011_09_30",
        "tool_name": "calibrex",
        "tool_version": "0.5.1"
      },
      "quality": {
        "grade": "warn",
        "std_rotation_deg": [],
        "std_translation_m": []
      },
      "rotation_quat_xyzw": [
        -0.4991459120684823,
        0.5040847568861339,
        -0.4968172956264801,
        -0.49992448540430684
      ],
      "translation_m": [
        0.05624655421119172,
        -0.07481401634273016,
        -0.32779358344330395
      ]
    }
  },
  "run": {
    "config_sha256": "13bbf176acc022393ef16d25ce1304d7ad2ddee4122e37996b47697af418b3f1",
    "created_at": "2026-10-11T02:40:51.425815+00:00",
    "dataset_sha256": "220371dffb6b5f43478e1cfe74fe353e53c2cf6b122d1d690b6bbf9a7a2b08bb",
    "domain": "robotics",
    "git_commit": "9cdba24",
    "id": "kitti_raw_2011_09_30_drive_0018-image_02-d2d-public-six-dof-demo-six-dof-13bbf176acc0",
    "provenance": {
      "command": [
        "${WORKSPACE_ROOT}/.venv/Scripts/python.exe",
        "${WORKSPACE_ROOT}/.tmp-calibrex-measure-input-snapshot.py"
      ],
      "config_digest_unavailable_reason": null,
      "config_sha256": "13bbf176acc022393ef16d25ce1304d7ad2ddee4122e37996b47697af418b3f1",
      "configuration": {
        "effective_frame_workers": 1,
        "frame_workers": 1,
        "holdout_frame_ids": [
          "0000000460",
          "0000001035",
          "0000001611",
          "0000002186",
          "0000002761"
        ],
        "initial_transform": {
          "rotation_quat_xyzw": [
            -0.5013224857079878,
            0.5062477258813893,
            -0.4946130885838785,
            -0.49774179849094685
          ],
          "translation_m": [
            0.5562465542111917,
            -0.07481401634273016,
            -0.32779358344330395
          ]
        },
        "input_mode": "verified_snapshot",
        "options": {
          "d2d": {
            "camera_depth_range": [
              0.001202438841573894,
              1.0
            ],
            "histogram_bins": 32,
            "lidar_range_m": [
              1.4582733324569037,
              80.00043034401241
            ],
            "min_visible_points": 64,
            "use_z_buffer": true
          },
          "improvement_tolerance": 1e-09,
          "initial_rotation_step_deg": 0.25,
          "initial_translation_step_m": 0.1,
          "max_evaluations": 800,
          "minimum_rotation_step_deg": 0.01,
          "minimum_translation_step_m": 0.005,
          "objective": "mutual_information",
          "rotation_bound_deg": 2.0,
          "translation_bound_m": 1.0
        },
        "pipeline_version": "calibrex.camera_lidar_six_dof_estimate/v0.3",
        "projection_backend": "calibrex.cuda_depth_pair_projector/v0.3;cupy=14.2.0;numpy=2.3.4;cuda_runtime=12090;cuda_driver=13020;device=NVIDIA CUDA GPU;compute=7.5;nvrtc=12.8;kernel_sha256=63e1f2eed8bceede3572e6f1d31827e1bdf4619106aac34648b0ff0af213ab79;fp64;fmad=false;histogram_batch_frames=32",
        "train_frame_ids": [
          "0000000000",
          "0000000115",
          "0000000230",
          "0000000345",
          "0000000575",
          "0000000690",
          "0000000805",
          "0000000920",
          "0000001150",
          "0000001265",
          "0000001381",
          "0000001496",
          "0000001726",
          "0000001841",
          "0000001956",
          "0000002071",
          "0000002301",
          "0000002416",
          "0000002531",
          "0000002646"
        ]
      },
      "data_verified": true,
      "dataset_family": "KITTI raw",
      "dataset_id": "kitti_raw_2011_09_30_drive_0018",
      "final_holdout_evaluation": {
        "evaluated_frame_count": 5,
        "frames": [
          {
            "frame_id": "0000000460",
            "mutual_information": 1.2512451542756775,
            "normalized_mutual_information": 0.48461967491380126,
            "projected_count_before_visibility": 19450,
            "visible_point_count": 19419
          },
          {
            "frame_id": "0000001035",
            "mutual_information": 1.371560989071905,
            "normalized_mutual_information": 0.4942564650420397,
            "projected_count_before_visibility": 19283,
            "visible_point_count": 19222
          },
          {
            "frame_id": "0000001611",
            "mutual_information": 1.390781519644321,
            "normalized_mutual_information": 0.5150031390056784,
            "projected_count_before_visibility": 19206,
            "visible_point_count": 19089
          },
          {
            "frame_id": "0000002186",
            "mutual_information": 1.170291902780841,
            "normalized_mutual_information": 0.4452166649262601,
            "projected_count_before_visibility": 19743,
            "visible_point_count": 19701
          },
          {
            "frame_id": "0000002761",
            "mutual_information": 1.2835931461057717,
            "normalized_mutual_information": 0.48078773351400883,
            "projected_count_before_visibility": 18543,
            "visible_point_count": 18529
          }
        ],
        "method": "borer_depth_to_depth_mutual_information/v0.2",
        "mutual_information": 1.2934945423757032,
        "normalized_mutual_information": 0.4839767354803577,
        "primary_source": "https://arxiv.org/abs/2311.01905",
        "skipped_frame_ids": [],
        "visible_point_count": 95960
      },
      "generated_at": "2026-10-11T02:40:51.425815+00:00",
      "git_commit": "9cdba24",
      "git_commit_unavailable_reason": null,
      "initial_holdout_evaluation": {
        "evaluated_frame_count": 5,
        "frames": [
          {
            "frame_id": "0000000460",
            "mutual_information": 1.1372984155145796,
            "normalized_mutual_information": 0.44241548224448296,
            "projected_count_before_visibility": 20674,
            "visible_point_count": 20583
          },
          {
            "frame_id": "0000001035",
            "mutual_information": 1.096620677711436,
            "normalized_mutual_information": 0.3986546295417523,
            "projected_count_before_visibility": 21040,
            "visible_point_count": 20871
          },
          {
            "frame_id": "0000001611",
            "mutual_information": 1.0764453693652545,
            "normalized_mutual_information": 0.4067977878603804,
            "projected_count_before_visibility": 20457,
            "visible_point_count": 20308
          },
          {
            "frame_id": "0000002186",
            "mutual_information": 1.0311056989395997,
            "normalized_mutual_information": 0.39296193198555407,
            "projected_count_before_visibility": 21029,
            "visible_point_count": 20919
          },
          {
            "frame_id": "0000002761",
            "mutual_information": 1.0869943512257247,
            "normalized_mutual_information": 0.4081600690299616,
            "projected_count_before_visibility": 19945,
            "visible_point_count": 19870
          }
        ],
        "method": "borer_depth_to_depth_mutual_information/v0.2",
        "mutual_information": 1.085692902551319,
        "normalized_mutual_information": 0.40979798013242624,
        "primary_source": "https://arxiv.org/abs/2311.01905",
        "skipped_frame_ids": [],
        "visible_point_count": 102551
      },
      "initial_source": "problem.initial_transform_camera_lidar",
      "input_digest_unavailable_reason": null,
      "input_digests": {
        "depth_provider_sha256": "7e3ef953a360a7c01ed0cdc3cf947db97fb0aff5912ced805d80bebe210d3360",
        "initial_result_sha256": null,
        "problem_sha256": "1daf5e6b5da531ca873d0c3b4abab6141fd0f0d49d9937c48cb265851d748f18"
      },
      "input_sha256": "220371dffb6b5f43478e1cfe74fe353e53c2cf6b122d1d690b6bbf9a7a2b08bb",
      "input_verification": {
        "array_bytes": 190892928,
        "depth_provider_sha256": "7e3ef953a360a7c01ed0cdc3cf947db97fb0aff5912ced805d80bebe210d3360",
        "external_files_reverified": false,
        "mode": "verified_snapshot",
        "preparation_in_run_timing": false,
        "preparation_seconds": 2.796825199970044,
        "problem_artifact_reverified": true,
        "problem_sha256": "1daf5e6b5da531ca873d0c3b4abab6141fd0f0d49d9937c48cb265851d748f18",
        "snapshot_sha256": "0134996a8dbcbb2c6fe881dcd20b847b29075aff71d267dc15c1be87a4e4ac16",
        "version": "calibrex.camera_lidar_input_snapshot/v0.1"
      },
      "paired_measurement": {
        "execution_order": [
          "cuda_fresh_files",
          "cuda_verified_snapshot"
        ],
        "invocation_wall_seconds": 1.4272293000249192,
        "measurement_launcher_sha256": "2385dcea0541d49bb9d24f103cde15833be5f66d72a6c8a14073a57c84fcf18e",
        "method_id": "cuda_verified_snapshot",
        "repetition": 1,
        "snapshot_preparation_share_seconds": 0.27968251999700444
      },
      "pipeline": "calibrex.camera_lidar_six_dof_estimate/v0.3",
      "pipeline_source_sha256": "eb6db5f0769bc6415149df8888bf9f3ca4325c53a289afa8a7d84df0d3e402d5",
      "problem_path": "outputs/public-kitti-six-dof-fused-cpu-v1/demo.problem.json",
      "producer": "calibrex",
      "projection_backend": "calibrex.cuda_depth_pair_projector/v0.3;cupy=14.2.0;numpy=2.3.4;cuda_runtime=12090;cuda_driver=13020;device=NVIDIA CUDA GPU;compute=7.5;nvrtc=12.8;kernel_sha256=63e1f2eed8bceede3572e6f1d31827e1bdf4619106aac34648b0ff0af213ab79;fp64;fmad=false;histogram_batch_frames=32",
      "projection_transfer_statistics": {
        "cache_budget_bytes": 268435456,
        "cached_input_bytes": 190892928,
        "evaluation_input_upload_bytes": 0,
        "evaluation_input_upload_calls": 0,
        "histogram_download_bytes": 37674720,
        "histogram_download_calls": 231,
        "preparation_input_upload_bytes": 190892928,
        "preparation_input_upload_calls": 25,
        "prepared_observation_count": 25
      },
      "provenance_version": "slac.result.provenance/v0.1",
      "publication": {
        "normalization": "Workspace/dataset paths replaced; complete numerical payload unchanged.",
        "original_result_sha256": "6a1a757a3b66b09179edda6e677c0c0ddf83cc558a632dc2791aadae7bded41a"
      },
      "reference_used_for_optimization": false,
      "sequence_id": "2011_09_30_drive_0018_sync",
      "solver_result": {
        "best_delta_rotation_deg_xyz": [
          -0.125,
          0.015625,
          0.109375
        ],
        "best_delta_translation_m_xyz": [
          -0.5,
          0.1,
          -0.125
        ],
        "evaluation_count": 229,
        "final_evaluation": {
          "evaluated_frame_count": 20,
          "frames": [
            {
              "frame_id": "0000000000",
              "mutual_information": 1.4072209426438014,
              "normalized_mutual_information": 0.5317459477466062,
              "projected_count_before_visibility": 19910,
              "visible_point_count": 19906
            },
            {
              "frame_id": "0000000115",
              "mutual_information": 1.409112517819438,
              "normalized_mutual_information": 0.536371329368879,
              "projected_count_before_visibility": 19697,
              "visible_point_count": 19676
            },
            {
              "frame_id": "0000000230",
              "mutual_information": 1.1640877316684293,
              "normalized_mutual_information": 0.43636093919510255,
              "projected_count_before_visibility": 19548,
              "visible_point_count": 19482
            },
            {
              "frame_id": "0000000345",
              "mutual_information": 1.0744799669449212,
              "normalized_mutual_information": 0.438362332498134,
              "projected_count_before_visibility": 19556,
              "visible_point_count": 19501
            },
            {
              "frame_id": "0000000575",
              "mutual_information": 1.237527673478187,
              "normalized_mutual_information": 0.45302955226169406,
              "projected_count_before_visibility": 18253,
              "visible_point_count": 18191
            },
            {
              "frame_id": "0000000690",
              "mutual_information": 1.29729727197887,
              "normalized_mutual_information": 0.472992009179403,
              "projected_count_before_visibility": 19456,
              "visible_point_count": 19385
            },
            {
              "frame_id": "0000000805",
              "mutual_information": 1.1160681424360321,
              "normalized_mutual_information": 0.4222671855621285,
              "projected_count_before_visibility": 19928,
              "visible_point_count": 19915
            },
            {
              "frame_id": "0000000920",
              "mutual_information": 1.1485584428979783,
              "normalized_mutual_information": 0.45873358778970685,
              "projected_count_before_visibility": 19204,
              "visible_point_count": 19133
            },
            {
              "frame_id": "0000001150",
              "mutual_information": 1.409249643321675,
              "normalized_mutual_information": 0.5239937815853067,
              "projected_count_before_visibility": 18512,
              "visible_point_count": 18457
            },
            {
              "frame_id": "0000001265",
              "mutual_information": 1.453111900527373,
              "normalized_mutual_information": 0.5426434322602404,
              "projected_count_before_visibility": 18719,
              "visible_point_count": 18715
            },
            {
              "frame_id": "0000001381",
              "mutual_information": 1.119517282388859,
              "normalized_mutual_information": 0.41746683694970943,
              "projected_count_before_visibility": 18726,
              "visible_point_count": 18657
            },
            {
              "frame_id": "0000001496",
              "mutual_information": 1.1554972859006476,
              "normalized_mutual_information": 0.41446517428602137,
              "projected_count_before_visibility": 18801,
              "visible_point_count": 18719
            },
            {
              "frame_id": "0000001726",
              "mutual_information": 1.0296810484660117,
              "normalized_mutual_information": 0.40624443679546285,
              "projected_count_before_visibility": 18952,
              "visible_point_count": 18934
            },
            {
              "frame_id": "0000001841",
              "mutual_information": 1.208783269836481,
              "normalized_mutual_information": 0.47722164667867756,
              "projected_count_before_visibility": 18734,
              "visible_point_count": 18711
            },
            {
              "frame_id": "0000001956",
              "mutual_information": 1.2575454347316501,
              "normalized_mutual_information": 0.4340850247980965,
              "projected_count_before_visibility": 17836,
              "visible_point_count": 17788
            },
            {
              "frame_id": "0000002071",
              "mutual_information": 1.3963660535412874,
              "normalized_mutual_information": 0.5021012788748695,
              "projected_count_before_visibility": 19271,
              "visible_point_count": 19241
            },
            {
              "frame_id": "0000002301",
              "mutual_information": 1.2150491790071936,
              "normalized_mutual_information": 0.4703325216382401,
              "projected_count_before_visibility": 20210,
              "visible_point_count": 20205
            },
            {
              "frame_id": "0000002416",
              "mutual_information": 1.0305503918538514,
              "normalized_mutual_information": 0.46962570024517436,
              "projected_count_before_visibility": 20418,
              "visible_point_count": 20386
            },
            {
              "frame_id": "0000002531",
              "mutual_information": 1.2917196909607878,
              "normalized_mutual_information": 0.46712634216996973,
              "projected_count_before_visibility": 18698,
              "visible_point_count": 18652
            },
            {
              "frame_id": "0000002646",
              "mutual_information": 1.264366565171449,
              "normalized_mutual_information": 0.45666961214205665,
              "projected_count_before_visibility": 18551,
              "visible_point_count": 18495
            }
          ],
          "method": "borer_depth_to_depth_mutual_information/v0.2",
          "mutual_information": 1.2342895217787462,
          "normalized_mutual_information": 0.46659193360127393,
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "skipped_frame_ids": [],
          "visible_point_count": 382149
        },
        "final_rotation_step_deg": 0.0078125,
        "final_translation_step_m": 0.003125,
        "initial_evaluation": {
          "evaluated_frame_count": 20,
          "frames": [
            {
              "frame_id": "0000000000",
              "mutual_information": 1.3757350775778083,
              "normalized_mutual_information": 0.5177631820101124,
              "projected_count_before_visibility": 21074,
              "visible_point_count": 21058
            },
            {
              "frame_id": "0000000115",
              "mutual_information": 1.3564037077555353,
              "normalized_mutual_information": 0.513207747127838,
              "projected_count_before_visibility": 21016,
              "visible_point_count": 20969
            },
            {
              "frame_id": "0000000230",
              "mutual_information": 0.8906038487189454,
              "normalized_mutual_information": 0.340880477576539,
              "projected_count_before_visibility": 21204,
              "visible_point_count": 21017
            },
            {
              "frame_id": "0000000345",
              "mutual_information": 0.8506305672765935,
              "normalized_mutual_information": 0.3427843696066425,
              "projected_count_before_visibility": 21472,
              "visible_point_count": 21326
            },
            {
              "frame_id": "0000000575",
              "mutual_information": 0.8839143993058798,
              "normalized_mutual_information": 0.3272511630203797,
              "projected_count_before_visibility": 20184,
              "visible_point_count": 19976
            },
            {
              "frame_id": "0000000690",
              "mutual_information": 1.0863062415931628,
              "normalized_mutual_information": 0.400820589198193,
              "projected_count_before_visibility": 20991,
              "visible_point_count": 20881
            },
            {
              "frame_id": "0000000805",
              "mutual_information": 1.0291947363935208,
              "normalized_mutual_information": 0.3903277302208481,
              "projected_count_before_visibility": 21130,
              "visible_point_count": 21047
            },
            {
              "frame_id": "0000000920",
              "mutual_information": 0.88530420258249,
              "normalized_mutual_information": 0.3572046896395701,
              "projected_count_before_visibility": 20389,
              "visible_point_count": 20230
            },
            {
              "frame_id": "0000001150",
              "mutual_information": 1.1450406230378096,
              "normalized_mutual_information": 0.43714143490578505,
              "projected_count_before_visibility": 19541,
              "visible_point_count": 19392
            },
            {
              "frame_id": "0000001265",
              "mutual_information": 1.3397218392003216,
              "normalized_mutual_information": 0.49869348358554766,
              "projected_count_before_visibility": 19806,
              "visible_point_count": 19749
            },
            {
              "frame_id": "0000001381",
              "mutual_information": 0.8008655786282022,
              "normalized_mutual_information": 0.2980484724275648,
              "projected_count_before_visibility": 20548,
              "visible_point_count": 20364
            },
            {
              "frame_id": "0000001496",
              "mutual_information": 0.8706019682111759,
              "normalized_mutual_information": 0.31541663964736383,
              "projected_count_before_visibility": 20358,
              "visible_point_count": 20180
            },
            {
              "frame_id": "0000001726",
              "mutual_information": 0.9375742147596267,
              "normalized_mutual_information": 0.3752800648784774,
              "projected_count_before_visibility": 20174,
              "visible_point_count": 20080
            },
            {
              "frame_id": "0000001841",
              "mutual_information": 1.042256786928501,
              "normalized_mutual_information": 0.4134293620277045,
              "projected_count_before_visibility": 19907,
              "visible_point_count": 19819
            },
            {
              "frame_id": "0000001956",
              "mutual_information": 1.002413270448404,
              "normalized_mutual_information": 0.3498399068592984,
              "projected_count_before_visibility": 19068,
              "visible_point_count": 18912
            },
            {
              "frame_id": "0000002071",
              "mutual_information": 1.267787764730591,
              "normalized_mutual_information": 0.4594083339139371,
              "projected_count_before_visibility": 20218,
              "visible_point_count": 20127
            },
            {
              "frame_id": "0000002301",
              "mutual_information": 1.1916064823329497,
              "normalized_mutual_information": 0.45637039415920083,
              "projected_count_before_visibility": 21434,
              "visible_point_count": 21405
            },
            {
              "frame_id": "0000002416",
              "mutual_information": 1.0986044886826511,
              "normalized_mutual_information": 0.49491014762359864,
              "projected_count_before_visibility": 21528,
              "visible_point_count": 21466
            },
            {
              "frame_id": "0000002531",
              "mutual_information": 1.1679354735492486,
              "normalized_mutual_information": 0.426595633409463,
              "projected_count_before_visibility": 19843,
              "visible_point_count": 19735
            },
            {
              "frame_id": "0000002646",
              "mutual_information": 1.0728797552351406,
              "normalized_mutual_information": 0.3925761253007762,
              "projected_count_before_visibility": 19382,
              "visible_point_count": 19274
            }
          ],
          "method": "borer_depth_to_depth_mutual_information/v0.2",
          "mutual_information": 1.0647690513474277,
          "normalized_mutual_information": 0.4053974973569421,
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "skipped_frame_ids": [],
          "visible_point_count": 407007
        },
        "initial_transform_camera_lidar": {
          "rotation_quat_xyzw": [
            -0.5013224857079878,
            0.5062477258813893,
            -0.4946130885838785,
            -0.49774179849094685
          ],
          "translation_m": [
            0.5562465542111917,
            -0.07481401634273016,
            -0.32779358344330395
          ]
        },
        "method": "bounded_se3_pattern_search/v0.1",
        "primary_source": "https://arxiv.org/abs/2311.01905",
        "projection_backend": "calibrex.cuda_depth_pair_projector/v0.3;cupy=14.2.0;numpy=2.3.4;cuda_runtime=12090;cuda_driver=13020;device=NVIDIA CUDA GPU;compute=7.5;nvrtc=12.8;kernel_sha256=63e1f2eed8bceede3572e6f1d31827e1bdf4619106aac34648b0ff0af213ab79;fp64;fmad=false;histogram_batch_frames=32",
        "status": "converged",
        "stopping_reason": "minimum SE(3) steps reached",
        "trace": [
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 1,
            "mutual_information": 1.0647690513474277,
            "normalized_mutual_information": 0.4053974973569421,
            "objective": 1.0647690513474277
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 2,
            "mutual_information": 1.0720711652907728,
            "normalized_mutual_information": 0.4079926255246479,
            "objective": 1.0720711652907728
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 3,
            "mutual_information": 1.0524114078367004,
            "normalized_mutual_information": 0.40087805551927724,
            "objective": 1.0524114078367004
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 4,
            "mutual_information": 1.0828902598645123,
            "normalized_mutual_information": 0.41230031294998826,
            "objective": 1.0828902598645123
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 5,
            "mutual_information": 1.0485207750307701,
            "normalized_mutual_information": 0.3991599431158755,
            "objective": 1.0485207750307701
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 6,
            "mutual_information": 1.0602642409261278,
            "normalized_mutual_information": 0.40363622568959806,
            "objective": 1.0602642409261278
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 7,
            "mutual_information": 1.0667235811893614,
            "normalized_mutual_information": 0.40609963563061485,
            "objective": 1.0667235811893614
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 8,
            "mutual_information": 1.0953410886747128,
            "normalized_mutual_information": 0.4169321499189653,
            "objective": 1.0953410886747128
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 9,
            "mutual_information": 1.037325091313899,
            "normalized_mutual_information": 0.3949379844843418,
            "objective": 1.037325091313899
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              -0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 10,
            "mutual_information": 1.0386139012274973,
            "normalized_mutual_information": 0.39562287406540675,
            "objective": 1.0386139012274973
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 11,
            "mutual_information": 1.0855988757665327,
            "normalized_mutual_information": 0.41217465647476753,
            "objective": 1.0855988757665327
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 12,
            "mutual_information": 1.0664636894985207,
            "normalized_mutual_information": 0.4060996279042947,
            "objective": 1.0664636894985207
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 13,
            "mutual_information": 1.063526942464693,
            "normalized_mutual_information": 0.4049130672717741,
            "objective": 1.063526942464693
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 14,
            "mutual_information": 1.1027998750612664,
            "normalized_mutual_information": 0.419542257512305,
            "objective": 1.1027998750612664
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 15,
            "mutual_information": 1.0799894009325308,
            "normalized_mutual_information": 0.4112803515331868,
            "objective": 1.0799894009325308
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 16,
            "mutual_information": 1.1122533456335324,
            "normalized_mutual_information": 0.42335870560321015,
            "objective": 1.1122533456335324
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 17,
            "mutual_information": 1.0773964742055955,
            "normalized_mutual_information": 0.4100639727383525,
            "objective": 1.0773964742055955
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 18,
            "mutual_information": 1.0901339177929812,
            "normalized_mutual_information": 0.41489092254385246,
            "objective": 1.0901339177929812
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 19,
            "mutual_information": 1.0962046701886703,
            "normalized_mutual_information": 0.41722270348815604,
            "objective": 1.0962046701886703
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 20,
            "mutual_information": 1.1246882864582841,
            "normalized_mutual_information": 0.4279702340623843,
            "objective": 1.1246882864582841
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 21,
            "mutual_information": 1.0647690513474277,
            "normalized_mutual_information": 0.4053974973569421,
            "objective": 1.0647690513474277
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              -0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 22,
            "mutual_information": 1.0632779967996915,
            "normalized_mutual_information": 0.4050445737696708,
            "objective": 1.0632779967996915
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 23,
            "mutual_information": 1.116744791950213,
            "normalized_mutual_information": 0.4238765511941433,
            "objective": 1.116744791950213
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 24,
            "mutual_information": 1.0953704416712169,
            "normalized_mutual_information": 0.4169751214864684,
            "objective": 1.0953704416712169
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 25,
            "mutual_information": 1.0924913645475889,
            "normalized_mutual_information": 0.4158656865093514,
            "objective": 1.0924913645475889
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 26,
            "mutual_information": 1.134281455000797,
            "normalized_mutual_information": 0.43139719291135287,
            "objective": 1.134281455000797
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 27,
            "mutual_information": 1.1068240546333694,
            "normalized_mutual_information": 0.42138682041447895,
            "objective": 1.1068240546333694
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 28,
            "mutual_information": 1.1407146434739643,
            "normalized_mutual_information": 0.4339830952238023,
            "objective": 1.1407146434739643
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 29,
            "mutual_information": 1.1067875074439113,
            "normalized_mutual_information": 0.4211602992774037,
            "objective": 1.1067875074439113
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 30,
            "mutual_information": 1.118835663183135,
            "normalized_mutual_information": 0.4257161174290225,
            "objective": 1.118835663183135
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 31,
            "mutual_information": 1.125905070841108,
            "normalized_mutual_information": 0.4283762777437536,
            "objective": 1.125905070841108
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 32,
            "mutual_information": 1.1532976707504496,
            "normalized_mutual_information": 0.43862748725196116,
            "objective": 1.1532976707504496
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.1,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 33,
            "mutual_information": 1.0953410886747128,
            "normalized_mutual_information": 0.4169321499189653,
            "objective": 1.0953410886747128
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              -0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 34,
            "mutual_information": 1.0865322616352189,
            "normalized_mutual_information": 0.41387171945024653,
            "objective": 1.0865322616352189
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 35,
            "mutual_information": 1.1491826662130538,
            "normalized_mutual_information": 0.4360398634800773,
            "objective": 1.1491826662130538
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 36,
            "mutual_information": 1.1259838954953507,
            "normalized_mutual_information": 0.42841378535365016,
            "objective": 1.1259838954953507
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.2,
              0.0,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 37,
            "mutual_information": 1.1220464954195195,
            "normalized_mutual_information": 0.4269635384837673,
            "objective": 1.1220464954195195
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 38,
            "mutual_information": 1.1655540347275808,
            "normalized_mutual_information": 0.4430840195373011,
            "objective": 1.1655540347275808
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 39,
            "mutual_information": 1.132958849477391,
            "normalized_mutual_information": 0.4311094268561225,
            "objective": 1.132958849477391
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 40,
            "mutual_information": 1.1671959095529396,
            "normalized_mutual_information": 0.4438443520651278,
            "objective": 1.1671959095529396
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 41,
            "mutual_information": 1.1368448255458676,
            "normalized_mutual_information": 0.43242883878961685,
            "objective": 1.1368448255458676
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 42,
            "mutual_information": 1.1475058606587258,
            "normalized_mutual_information": 0.4364323958276334,
            "objective": 1.1475058606587258
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 43,
            "mutual_information": 1.1544496202245937,
            "normalized_mutual_information": 0.4390327304217377,
            "objective": 1.1544496202245937
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 44,
            "mutual_information": 1.1791751733673599,
            "normalized_mutual_information": 0.448191392366426,
            "objective": 1.1791751733673599
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.20000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 45,
            "mutual_information": 1.1246882864582841,
            "normalized_mutual_information": 0.4279702340623843,
            "objective": 1.1246882864582841
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              -0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 46,
            "mutual_information": 1.1083868519112139,
            "normalized_mutual_information": 0.42206716371103176,
            "objective": 1.1083868519112139
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 47,
            "mutual_information": 1.1807032101582153,
            "normalized_mutual_information": 0.4477629238982154,
            "objective": 1.1807032101582153
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 48,
            "mutual_information": 1.1549168186902734,
            "normalized_mutual_information": 0.43920119249661915,
            "objective": 1.1549168186902734
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 49,
            "mutual_information": 1.1500042891815645,
            "normalized_mutual_information": 0.4374019288418693,
            "objective": 1.1500042891815645
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 50,
            "mutual_information": 1.1795038597439647,
            "normalized_mutual_information": 0.4468740363668765,
            "objective": 1.1795038597439647
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 51,
            "mutual_information": 1.171869685067169,
            "normalized_mutual_information": 0.4449061043902581,
            "objective": 1.171869685067169
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 52,
            "mutual_information": 1.1964662814002938,
            "normalized_mutual_information": 0.4536556968317367,
            "objective": 1.1964662814002938
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 53,
            "mutual_information": 1.1624744363442177,
            "normalized_mutual_information": 0.4408807218398455,
            "objective": 1.1624744363442177
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 54,
            "mutual_information": 1.1769690085232178,
            "normalized_mutual_information": 0.4463740452093303,
            "objective": 1.1769690085232178
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 55,
            "mutual_information": 1.181685982045985,
            "normalized_mutual_information": 0.44806557621156545,
            "objective": 1.181685982045985
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 56,
            "mutual_information": 1.2103299042315943,
            "normalized_mutual_information": 0.4586386192360763,
            "objective": 1.2103299042315943
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.20000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 57,
            "mutual_information": 1.1491826662130538,
            "normalized_mutual_information": 0.4360398634800773,
            "objective": 1.1491826662130538
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 58,
            "mutual_information": 1.1532976707504496,
            "normalized_mutual_information": 0.43862748725196116,
            "objective": 1.1532976707504496
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.2,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 59,
            "mutual_information": 1.1809715940164685,
            "normalized_mutual_information": 0.4460073463491046,
            "objective": 1.1809715940164685
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 60,
            "mutual_information": 1.1841036461551941,
            "normalized_mutual_information": 0.44866353662475317,
            "objective": 1.1841036461551941
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 61,
            "mutual_information": 1.1777893310214071,
            "normalized_mutual_information": 0.4470783203807274,
            "objective": 1.1777893310214071
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 62,
            "mutual_information": 1.2080074623630828,
            "normalized_mutual_information": 0.45732722509131,
            "objective": 1.2080074623630828
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 63,
            "mutual_information": 1.2004905892917452,
            "normalized_mutual_information": 0.455388611372029,
            "objective": 1.2004905892917452
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 64,
            "mutual_information": 1.2201598529318773,
            "normalized_mutual_information": 0.4622710471626868,
            "objective": 1.2201598529318773
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 65,
            "mutual_information": 1.1939191668359304,
            "normalized_mutual_information": 0.4525192639862571,
            "objective": 1.1939191668359304
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 66,
            "mutual_information": 1.2066962234525238,
            "normalized_mutual_information": 0.45733105847626654,
            "objective": 1.2066962234525238
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 67,
            "mutual_information": 1.2113235883497517,
            "normalized_mutual_information": 0.4589272598260267,
            "objective": 1.2113235883497517
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 68,
            "mutual_information": 1.2292995609286197,
            "normalized_mutual_information": 0.4654405222961424,
            "objective": 1.2292995609286197
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.30000000000000004,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 69,
            "mutual_information": 1.1807032101582153,
            "normalized_mutual_information": 0.4477629238982154,
            "objective": 1.1807032101582153
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 70,
            "mutual_information": 1.1791751733673599,
            "normalized_mutual_information": 0.448191392366426,
            "objective": 1.1791751733673599
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.2,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 71,
            "mutual_information": 1.2067977233885554,
            "normalized_mutual_information": 0.45544034352695284,
            "objective": 1.2067977233885554
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 72,
            "mutual_information": 1.2136604437362395,
            "normalized_mutual_information": 0.4595579730331356,
            "objective": 1.2136604437362395
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 73,
            "mutual_information": 1.2060636091574441,
            "normalized_mutual_information": 0.4574247467972624,
            "objective": 1.2060636091574441
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 74,
            "mutual_information": 1.2262998382100687,
            "normalized_mutual_information": 0.4638760283130393,
            "objective": 1.2262998382100687
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 75,
            "mutual_information": 1.2193983831807262,
            "normalized_mutual_information": 0.4621648544523961,
            "objective": 1.2193983831807262
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 76,
            "mutual_information": 1.2229034899848046,
            "normalized_mutual_information": 0.46288578771378647,
            "objective": 1.2229034899848046
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 77,
            "mutual_information": 1.2219829041759747,
            "normalized_mutual_information": 0.4628149270418782,
            "objective": 1.2219829041759747
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              -0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 78,
            "mutual_information": 1.2263503741191282,
            "normalized_mutual_information": 0.46441211475120336,
            "objective": 1.2263503741191282
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 79,
            "mutual_information": 1.2304667565439371,
            "normalized_mutual_information": 0.4658145123373113,
            "objective": 1.2304667565439371
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.6,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 80,
            "mutual_information": 1.2167452750669905,
            "normalized_mutual_information": 0.46036711626067534,
            "objective": 1.2167452750669905
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 81,
            "mutual_information": 1.2103299042315943,
            "normalized_mutual_information": 0.4586386192360763,
            "objective": 1.2103299042315943
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 82,
            "mutual_information": 1.1948483917344057,
            "normalized_mutual_information": 0.4538251956369083,
            "objective": 1.1948483917344057
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.2,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 83,
            "mutual_information": 1.2223757292416144,
            "normalized_mutual_information": 0.46093586977746437,
            "objective": 1.2223757292416144
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 84,
            "mutual_information": 1.2300971792913562,
            "normalized_mutual_information": 0.4654718829234138,
            "objective": 1.2300971792913562
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 85,
            "mutual_information": 1.2247768916786783,
            "normalized_mutual_information": 0.4641198604648011,
            "objective": 1.2247768916786783
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 86,
            "mutual_information": 1.229088302340872,
            "normalized_mutual_information": 0.4648385396539137,
            "objective": 1.229088302340872
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 87,
            "mutual_information": 1.2193237392724678,
            "normalized_mutual_information": 0.462060553668019,
            "objective": 1.2193237392724678
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 88,
            "mutual_information": 1.224081870105244,
            "normalized_mutual_information": 0.46325242790893356,
            "objective": 1.224081870105244
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 89,
            "mutual_information": 1.2231370952598866,
            "normalized_mutual_information": 0.4631694532753178,
            "objective": 1.2231370952598866
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 90,
            "mutual_information": 1.2292995609286197,
            "normalized_mutual_information": 0.4654405222961424,
            "objective": 1.2292995609286197
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.5
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 91,
            "mutual_information": 1.229385172682765,
            "normalized_mutual_information": 0.4653661841017464,
            "objective": 1.229385172682765
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.6,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 92,
            "mutual_information": 1.2175811698910226,
            "normalized_mutual_information": 0.46057993608702075,
            "objective": 1.2175811698910226
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 93,
            "mutual_information": 1.2113235883497517,
            "normalized_mutual_information": 0.4589272598260267,
            "objective": 1.2113235883497517
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.0,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 94,
            "mutual_information": 1.1956314433016373,
            "normalized_mutual_information": 0.4540959981956817,
            "objective": 1.1956314433016373
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.2,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 95,
            "mutual_information": 1.2245709355520595,
            "normalized_mutual_information": 0.4616713554630391,
            "objective": 1.2245709355520595
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 96,
            "mutual_information": 1.2316790194758962,
            "normalized_mutual_information": 0.4659457007775747,
            "objective": 1.2316790194758962
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 97,
            "mutual_information": 1.2262048595048496,
            "normalized_mutual_information": 0.46459996414377625,
            "objective": 1.2262048595048496
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 98,
            "mutual_information": 1.2305472346199586,
            "normalized_mutual_information": 0.46492545660551077,
            "objective": 1.2305472346199586
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.25,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 99,
            "mutual_information": 1.2219286129986302,
            "normalized_mutual_information": 0.46267756370009366,
            "objective": 1.2219286129986302
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.25,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 100,
            "mutual_information": 1.2240574848848376,
            "normalized_mutual_information": 0.4629220780249385,
            "objective": 1.2240574848848376
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.25,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 101,
            "mutual_information": 1.2261033537355197,
            "normalized_mutual_information": 0.4639797607748209,
            "objective": 1.2261033537355197
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 102,
            "mutual_information": 1.2300971792913562,
            "normalized_mutual_information": 0.4654718829234138,
            "objective": 1.2300971792913562
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.5
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 103,
            "mutual_information": 1.2314338061745775,
            "normalized_mutual_information": 0.4658394987664024,
            "objective": 1.2314338061745775
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.6,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 104,
            "mutual_information": 1.2193520403119404,
            "normalized_mutual_information": 0.4609099879818347,
            "objective": 1.2193520403119404
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.4,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 105,
            "mutual_information": 1.215566230559196,
            "normalized_mutual_information": 0.4602336590121471,
            "objective": 1.215566230559196
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.0,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 106,
            "mutual_information": 1.1976648814600312,
            "normalized_mutual_information": 0.45471265072503597,
            "objective": 1.1976648814600312
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.2,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 107,
            "mutual_information": 1.2261472804069882,
            "normalized_mutual_information": 0.46190220636367363,
            "objective": 1.2261472804069882
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.2
            ],
            "evaluated_frame_count": 20,
            "evaluation": 108,
            "mutual_information": 1.22957377193906,
            "normalized_mutual_information": 0.4646759685319444,
            "objective": 1.22957377193906
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              0.0
            ],
            "evaluated_frame_count": 20,
            "evaluation": 109,
            "mutual_information": 1.2304667565439371,
            "normalized_mutual_information": 0.4658145123373113,
            "objective": 1.2304667565439371
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 110,
            "mutual_information": 1.2335916078583726,
            "normalized_mutual_information": 0.4664350617326455,
            "objective": 1.2335916078583726
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 111,
            "mutual_information": 1.2277946632347574,
            "normalized_mutual_information": 0.46480740479015675,
            "objective": 1.2277946632347574
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              -0.125,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 112,
            "mutual_information": 1.229107860941475,
            "normalized_mutual_information": 0.4649092874801172,
            "objective": 1.229107860941475
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.125,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 113,
            "mutual_information": 1.230529925151814,
            "normalized_mutual_information": 0.4655833468629762,
            "objective": 1.230529925151814
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 114,
            "mutual_information": 1.2306339184742519,
            "normalized_mutual_information": 0.46562576955328483,
            "objective": 1.2306339184742519
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 115,
            "mutual_information": 1.2319424420182032,
            "normalized_mutual_information": 0.4660405061481847,
            "objective": 1.2319424420182032
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.55,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 116,
            "mutual_information": 1.22781395199324,
            "normalized_mutual_information": 0.4642663629795174,
            "objective": 1.22781395199324
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.45,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 117,
            "mutual_information": 1.2263867659623087,
            "normalized_mutual_information": 0.4641534656114274,
            "objective": 1.2263867659623087
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.05,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 118,
            "mutual_information": 1.2227040585335418,
            "normalized_mutual_information": 0.463441643414928,
            "objective": 1.2227040585335418
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.15000000000000002,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 119,
            "mutual_information": 1.2324991631369253,
            "normalized_mutual_information": 0.4652046274038545,
            "objective": 1.2324991631369253
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.15000000000000002
            ],
            "evaluated_frame_count": 20,
            "evaluation": 120,
            "mutual_information": 1.2302816350807109,
            "normalized_mutual_information": 0.46518768264932603,
            "objective": 1.2302816350807109
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.05
            ],
            "evaluated_frame_count": 20,
            "evaluation": 121,
            "mutual_information": 1.2311736474161488,
            "normalized_mutual_information": 0.46594880601681077,
            "objective": 1.2311736474161488
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 122,
            "mutual_information": 1.2305472346199586,
            "normalized_mutual_information": 0.46492545660551077,
            "objective": 1.2305472346199586
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 123,
            "mutual_information": 1.2316790194758962,
            "normalized_mutual_information": 0.4659457007775747,
            "objective": 1.2316790194758962
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.125,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 124,
            "mutual_information": 1.2307076882674102,
            "normalized_mutual_information": 0.4653014513249921,
            "objective": 1.2307076882674102
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.125,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 125,
            "mutual_information": 1.2320752888871158,
            "normalized_mutual_information": 0.4659143362260096,
            "objective": 1.2320752888871158
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 126,
            "mutual_information": 1.2336601986918474,
            "normalized_mutual_information": 0.4665052390913128,
            "objective": 1.2336601986918474
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 127,
            "mutual_information": 1.2335796657385398,
            "normalized_mutual_information": 0.46636496650935355,
            "objective": 1.2335796657385398
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.55,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 128,
            "mutual_information": 1.2298927723231106,
            "normalized_mutual_information": 0.4648099428516054,
            "objective": 1.2298927723231106
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.45,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 129,
            "mutual_information": 1.2288707243411554,
            "normalized_mutual_information": 0.46480576619359165,
            "objective": 1.2288707243411554
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.05,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 130,
            "mutual_information": 1.2278692470700863,
            "normalized_mutual_information": 0.4651964954287582,
            "objective": 1.2278692470700863
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.15000000000000002,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 131,
            "mutual_information": 1.2296220925110368,
            "normalized_mutual_information": 0.46391843583570935,
            "objective": 1.2296220925110368
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.15000000000000002
            ],
            "evaluated_frame_count": 20,
            "evaluation": 132,
            "mutual_information": 1.2328860988627561,
            "normalized_mutual_information": 0.4658558410352863,
            "objective": 1.2328860988627561
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.05
            ],
            "evaluated_frame_count": 20,
            "evaluation": 133,
            "mutual_information": 1.2333981138153618,
            "normalized_mutual_information": 0.4666013692451686,
            "objective": 1.2333981138153618
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.25,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 134,
            "mutual_information": 1.2298196572429954,
            "normalized_mutual_information": 0.46472916025002836,
            "objective": 1.2298196572429954
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              0.0,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 135,
            "mutual_information": 1.2306339184742519,
            "normalized_mutual_information": 0.46562576955328483,
            "objective": 1.2306339184742519
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.125,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 136,
            "mutual_information": 1.2311108940909226,
            "normalized_mutual_information": 0.46548197692483617,
            "objective": 1.2311108940909226
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.125,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 137,
            "mutual_information": 1.2322612521919347,
            "normalized_mutual_information": 0.4660259627876383,
            "objective": 1.2322612521919347
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.0
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 138,
            "mutual_information": 1.2320019621876575,
            "normalized_mutual_information": 0.4659286790314283,
            "objective": 1.2320019621876575
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.25
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 139,
            "mutual_information": 1.2335916078583726,
            "normalized_mutual_information": 0.4664350617326455,
            "objective": 1.2335916078583726
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.55,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 140,
            "mutual_information": 1.2302261538879304,
            "normalized_mutual_information": 0.4649864902226197,
            "objective": 1.2302261538879304
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.45,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 141,
            "mutual_information": 1.2287469919095828,
            "normalized_mutual_information": 0.4647948805615806,
            "objective": 1.2287469919095828
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.05,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 142,
            "mutual_information": 1.2272164204864127,
            "normalized_mutual_information": 0.46495377941184846,
            "objective": 1.2272164204864127
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.15000000000000002,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 143,
            "mutual_information": 1.2287721950680184,
            "normalized_mutual_information": 0.4636204675002224,
            "objective": 1.2287721950680184
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.15000000000000002
            ],
            "evaluated_frame_count": 20,
            "evaluation": 144,
            "mutual_information": 1.2327630443398458,
            "normalized_mutual_information": 0.4658686425697091,
            "objective": 1.2327630443398458
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.05
            ],
            "evaluated_frame_count": 20,
            "evaluation": 145,
            "mutual_information": 1.2334646261723,
            "normalized_mutual_information": 0.4666560637588376,
            "objective": 1.2334646261723
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.1875,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 146,
            "mutual_information": 1.2323781801261227,
            "normalized_mutual_information": 0.46581758955824515,
            "objective": 1.2323781801261227
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.0625,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 147,
            "mutual_information": 1.2327857125794024,
            "normalized_mutual_information": 0.46635542741089003,
            "objective": 1.2327857125794024
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.0625,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 148,
            "mutual_information": 1.2322760001407898,
            "normalized_mutual_information": 0.46596282825722657,
            "objective": 1.2322760001407898
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0625,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 149,
            "mutual_information": 1.2331167528714528,
            "normalized_mutual_information": 0.46632705074725145,
            "objective": 1.2331167528714528
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.0625
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 150,
            "mutual_information": 1.2331483138502985,
            "normalized_mutual_information": 0.4663283428955031,
            "objective": 1.2331483138502985
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.1875
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 151,
            "mutual_information": 1.2335017697963702,
            "normalized_mutual_information": 0.4664378940097988,
            "objective": 1.2335017697963702
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.525,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 152,
            "mutual_information": 1.2325742516188767,
            "normalized_mutual_information": 0.46599001586000394,
            "objective": 1.2325742516188767
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.475,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 153,
            "mutual_information": 1.2323423586186966,
            "normalized_mutual_information": 0.46610309552889906,
            "objective": 1.2323423586186966
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.07500000000000001,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 154,
            "mutual_information": 1.2309239968768866,
            "normalized_mutual_information": 0.4660045030081393,
            "objective": 1.2309239968768866
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.125,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 155,
            "mutual_information": 1.2316845756875874,
            "normalized_mutual_information": 0.46514919647785097,
            "objective": 1.2316845756875874
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 156,
            "mutual_information": 1.2338070613007008,
            "normalized_mutual_information": 0.4663937959684744,
            "objective": 1.2338070613007008
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.07500000000000001
            ],
            "evaluated_frame_count": 20,
            "evaluation": 157,
            "mutual_information": 1.2331145247674038,
            "normalized_mutual_information": 0.4664248818265488,
            "objective": 1.2331145247674038
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.1875,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 158,
            "mutual_information": 1.23197224317131,
            "normalized_mutual_information": 0.46554892377871127,
            "objective": 1.23197224317131
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.0625,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 159,
            "mutual_information": 1.2329357188352457,
            "normalized_mutual_information": 0.46630272171677734,
            "objective": 1.2329357188352457
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.0625,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 160,
            "mutual_information": 1.232288924261318,
            "normalized_mutual_information": 0.46580002849533625,
            "objective": 1.232288924261318
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0625,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 161,
            "mutual_information": 1.233245568739489,
            "normalized_mutual_information": 0.4662264595616533,
            "objective": 1.233245568739489
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.0625
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 162,
            "mutual_information": 1.2331735055545348,
            "normalized_mutual_information": 0.4661939495246008,
            "objective": 1.2331735055545348
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.1875
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 163,
            "mutual_information": 1.2334213341341669,
            "normalized_mutual_information": 0.4662382024492965,
            "objective": 1.2334213341341669
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.525,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 164,
            "mutual_information": 1.2321583503029419,
            "normalized_mutual_information": 0.4656668963306919,
            "objective": 1.2321583503029419
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.475,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 165,
            "mutual_information": 1.2322400398005828,
            "normalized_mutual_information": 0.4658908452697239,
            "objective": 1.2322400398005828
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.07500000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 166,
            "mutual_information": 1.2307621562964632,
            "normalized_mutual_information": 0.46583748879299564,
            "objective": 1.2307621562964632
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.125,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 167,
            "mutual_information": 1.230925374779908,
            "normalized_mutual_information": 0.4647774679661306,
            "objective": 1.230925374779908
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.15
            ],
            "evaluated_frame_count": 20,
            "evaluation": 168,
            "mutual_information": 1.2327630443398458,
            "normalized_mutual_information": 0.4658686425697091,
            "objective": 1.2327630443398458
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1
            ],
            "evaluated_frame_count": 20,
            "evaluation": 169,
            "mutual_information": 1.2336601986918474,
            "normalized_mutual_information": 0.4665052390913128,
            "objective": 1.2336601986918474
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.15625,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 170,
            "mutual_information": 1.233332474752251,
            "normalized_mutual_information": 0.4661007153547539,
            "objective": 1.233332474752251
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.09375,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 171,
            "mutual_information": 1.232552762654663,
            "normalized_mutual_information": 0.466037152681961,
            "objective": 1.232552762654663
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.03125,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 172,
            "mutual_information": 1.2329630668554024,
            "normalized_mutual_information": 0.4660703597863402,
            "objective": 1.2329630668554024
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.03125,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 173,
            "mutual_information": 1.2339330795864212,
            "normalized_mutual_information": 0.46645600335438075,
            "objective": 1.2339330795864212
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 174,
            "mutual_information": 1.2340032464986148,
            "normalized_mutual_information": 0.4664951220895078,
            "objective": 1.2340032464986148
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.15625
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 175,
            "mutual_information": 1.2339406624438927,
            "normalized_mutual_information": 0.46645421677882737,
            "objective": 1.2339406624438927
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5125,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 176,
            "mutual_information": 1.2328590940175812,
            "normalized_mutual_information": 0.46598950442280296,
            "objective": 1.2328590940175812
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.4875,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 177,
            "mutual_information": 1.2332197238408753,
            "normalized_mutual_information": 0.46623486617840004,
            "objective": 1.2332197238408753
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.08750000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 178,
            "mutual_information": 1.2328210212429465,
            "normalized_mutual_information": 0.46635535592412786,
            "objective": 1.2328210212429465
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1125,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 179,
            "mutual_information": 1.2325651782209877,
            "normalized_mutual_information": 0.46564369184255766,
            "objective": 1.2325651782209877
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1375
            ],
            "evaluated_frame_count": 20,
            "evaluation": 180,
            "mutual_information": 1.2333800483338702,
            "normalized_mutual_information": 0.4661650604858961,
            "objective": 1.2333800483338702
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 181,
            "mutual_information": 1.2336040347472457,
            "normalized_mutual_information": 0.4664243274040748,
            "objective": 1.2336040347472457
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.15625,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 182,
            "mutual_information": 1.2328012478677284,
            "normalized_mutual_information": 0.4659234785976249,
            "objective": 1.2328012478677284
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.09375,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 183,
            "mutual_information": 1.2328520087905608,
            "normalized_mutual_information": 0.4661617201890584,
            "objective": 1.2328520087905608
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.03125,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 184,
            "mutual_information": 1.233127578949314,
            "normalized_mutual_information": 0.46614923305690137,
            "objective": 1.233127578949314
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.03125,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 185,
            "mutual_information": 1.2339265162750976,
            "normalized_mutual_information": 0.46647118931954556,
            "objective": 1.2339265162750976
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.0625
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 186,
            "mutual_information": 1.2331735055545348,
            "normalized_mutual_information": 0.4661939495246008,
            "objective": 1.2331735055545348
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 187,
            "mutual_information": 1.2338070613007008,
            "normalized_mutual_information": 0.4663937959684744,
            "objective": 1.2338070613007008
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5125,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 188,
            "mutual_information": 1.2331587189885116,
            "normalized_mutual_information": 0.4661274484242914,
            "objective": 1.2331587189885116
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.4875,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 189,
            "mutual_information": 1.2333000806114185,
            "normalized_mutual_information": 0.466287738660108,
            "objective": 1.2333000806114185
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.08750000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 190,
            "mutual_information": 1.232938486214405,
            "normalized_mutual_information": 0.4664284831377822,
            "objective": 1.232938486214405
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1125,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 191,
            "mutual_information": 1.2325164860328488,
            "normalized_mutual_information": 0.46563476407254045,
            "objective": 1.2325164860328488
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1375
            ],
            "evaluated_frame_count": 20,
            "evaluation": 192,
            "mutual_information": 1.2333300244575718,
            "normalized_mutual_information": 0.4661562246805332,
            "objective": 1.2333300244575718
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.1125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 193,
            "mutual_information": 1.2337295544688331,
            "normalized_mutual_information": 0.46648173902913453,
            "objective": 1.2337295544688331
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.140625,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 194,
            "mutual_information": 1.2334118639780702,
            "normalized_mutual_information": 0.4662038345089387,
            "objective": 1.2334118639780702
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.109375,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 195,
            "mutual_information": 1.2330912402836718,
            "normalized_mutual_information": 0.46621339160283287,
            "objective": 1.2330912402836718
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              -0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 196,
            "mutual_information": 1.233546670220113,
            "normalized_mutual_information": 0.4662997590353005,
            "objective": 1.233546670220113
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 197,
            "mutual_information": 1.234231859024534,
            "normalized_mutual_information": 0.4665755710967959,
            "objective": 1.234231859024534
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.078125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 198,
            "mutual_information": 1.2335718823899438,
            "normalized_mutual_information": 0.46633446200884665,
            "objective": 1.2335718823899438
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 199,
            "mutual_information": 1.2339613779224705,
            "normalized_mutual_information": 0.4664647661910754,
            "objective": 1.2339613779224705
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.50625,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 200,
            "mutual_information": 1.2335772740327917,
            "normalized_mutual_information": 0.4663010644109337,
            "objective": 1.2335772740327917
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.49375,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 201,
            "mutual_information": 1.2335790644931397,
            "normalized_mutual_information": 0.4663573692822066,
            "objective": 1.2335790644931397
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.09375,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 202,
            "mutual_information": 1.2327916072132568,
            "normalized_mutual_information": 0.4662053659782287,
            "objective": 1.2327916072132568
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.10625000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 203,
            "mutual_information": 1.2332367519199843,
            "normalized_mutual_information": 0.4660236595051005,
            "objective": 1.2332367519199843
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.13125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 204,
            "mutual_information": 1.2338084091546988,
            "normalized_mutual_information": 0.46637782720416504,
            "objective": 1.2338084091546988
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.11875
            ],
            "evaluated_frame_count": 20,
            "evaluation": 205,
            "mutual_information": 1.234108818299118,
            "normalized_mutual_information": 0.46656898479603004,
            "objective": 1.234108818299118
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.140625,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 206,
            "mutual_information": 1.2338916722896078,
            "normalized_mutual_information": 0.46637971145225415,
            "objective": 1.2338916722896078
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.109375,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 207,
            "mutual_information": 1.233159608092413,
            "normalized_mutual_information": 0.4662305259845617,
            "objective": 1.233159608092413
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 208,
            "mutual_information": 1.2340032464986148,
            "normalized_mutual_information": 0.4664951220895078,
            "objective": 1.2340032464986148
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.03125,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 209,
            "mutual_information": 1.2339265162750976,
            "normalized_mutual_information": 0.46647118931954556,
            "objective": 1.2339265162750976
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.078125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 210,
            "mutual_information": 1.2338608882039714,
            "normalized_mutual_information": 0.46643590716056604,
            "objective": 1.2338608882039714
          },
          {
            "accepted": true,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 211,
            "mutual_information": 1.2342895217787462,
            "normalized_mutual_information": 0.46659193360127393,
            "objective": 1.2342895217787462
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.50625,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 212,
            "mutual_information": 1.2342081136440666,
            "normalized_mutual_information": 0.4665330555415455,
            "objective": 1.2342081136440666
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.49375,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 213,
            "mutual_information": 1.2334499730620152,
            "normalized_mutual_information": 0.4663028886905087,
            "objective": 1.2334499730620152
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.09375,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 214,
            "mutual_information": 1.2329535099929503,
            "normalized_mutual_information": 0.4662656904239143,
            "objective": 1.2329535099929503
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.10625000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 215,
            "mutual_information": 1.233495866447171,
            "normalized_mutual_information": 0.4661242955571467,
            "objective": 1.233495866447171
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.13125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 216,
            "mutual_information": 1.233908747092184,
            "normalized_mutual_information": 0.4664120400909281,
            "objective": 1.233908747092184
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.11875
            ],
            "evaluated_frame_count": 20,
            "evaluation": 217,
            "mutual_information": 1.2341081406740777,
            "normalized_mutual_information": 0.46657033211154275,
            "objective": 1.2341081406740777
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.140625,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 218,
            "mutual_information": 1.2339579934650067,
            "normalized_mutual_information": 0.46640812421557365,
            "objective": 1.2339579934650067
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.109375,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 219,
            "mutual_information": 1.2333995289389676,
            "normalized_mutual_information": 0.4663042221757479,
            "objective": 1.2333995289389676
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.0,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 220,
            "mutual_information": 1.2339613779224705,
            "normalized_mutual_information": 0.4664647661910754,
            "objective": 1.2339613779224705
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.03125,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 221,
            "mutual_information": 1.2339216084649807,
            "normalized_mutual_information": 0.4664572556575529,
            "objective": 1.2339216084649807
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.09375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 222,
            "mutual_information": 1.234231859024534,
            "normalized_mutual_information": 0.4665755710967959,
            "objective": 1.234231859024534
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.125
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 223,
            "mutual_information": 1.234000833448232,
            "normalized_mutual_information": 0.4664642117698099,
            "objective": 1.234000833448232
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.50625,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 224,
            "mutual_information": 1.2341678435894365,
            "normalized_mutual_information": 0.46651670922514255,
            "objective": 1.2341678435894365
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.49375,
              0.1,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 225,
            "mutual_information": 1.2334776990622156,
            "normalized_mutual_information": 0.46631335583204747,
            "objective": 1.2334776990622156
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.09375,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 226,
            "mutual_information": 1.2330136730253904,
            "normalized_mutual_information": 0.46627404982718457,
            "objective": 1.2330136730253904
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.10625000000000001,
              -0.125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 227,
            "mutual_information": 1.2336244295706318,
            "normalized_mutual_information": 0.46615904564686106,
            "objective": 1.2336244295706318
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.13125
            ],
            "evaluated_frame_count": 20,
            "evaluation": 228,
            "mutual_information": 1.2339487082497245,
            "normalized_mutual_information": 0.4664234564723763,
            "objective": 1.2339487082497245
          },
          {
            "accepted": false,
            "delta_rotation_deg_xyz": [
              -0.125,
              0.015625,
              0.109375
            ],
            "delta_translation_m_xyz": [
              -0.5,
              0.1,
              -0.11875
            ],
            "evaluated_frame_count": 20,
            "evaluation": 229,
            "mutual_information": 1.2341299623518232,
            "normalized_mutual_information": 0.466563362048363,
            "objective": 1.2341299623518232
          }
        ],
        "transform_camera_lidar": {
          "rotation_quat_xyzw": [
            -0.501329141918241,
            0.5051616604524635,
            -0.495572181988938,
            -0.49788452547870293
          ],
          "translation_m": [
            0.056246554211191735,
            0.025185983657269845,
            -0.45279358344330395
          ]
        }
      },
      "timing_seconds": {
        "backend_preparation": 0.03312419995199889,
        "holdout_evaluation": 0.0036652000271715224,
        "input_verification_and_loading": 0.11566440004389733,
        "solve": 1.2353715000208467
      },
      "tool_name": "calibrex",
      "tool_version": "0.5.1"
    },
    "slac_version": "0.5.1",
    "status": "success"
  },
  "schema_version": "slac.result/v0.1",
  "time_offsets": {},
  "transforms": {
    "T_camera_2_lidar": {
      "child": "lidar",
      "convention": "T_parent_child",
      "estimate_id": "T_camera_2_lidar",
      "parent": "camera_2",
      "provenance": {
        "adapter_version": "calibrex.camera_lidar_six_dof_estimate/v0.3",
        "evidence_level": "algorithmically_refined",
        "execution_mode": "offline_batch",
        "notes": [
          "solver status: converged; minimum SE(3) steps reached"
        ],
        "producer": "slac_native",
        "role_in_comparison": "output",
        "source": "borer_depth_to_depth_mutual_information/v0.2",
        "tool_name": "calibrex",
        "tool_version": "0.5.1"
      },
      "quality": {
        "grade": "warn",
        "std_rotation_deg": [],
        "std_translation_m": []
      },
      "rotation_quat_xyzw": [
        -0.501329141918241,
        0.5051616604524635,
        -0.495572181988938,
        -0.49788452547870293
      ],
      "translation_m": [
        0.056246554211191735,
        0.025185983657269845,
        -0.45279358344330395
      ]
    }
  }
}
