328 lines
8.0 KiB
JSON
328 lines
8.0 KiB
JSON
{
|
|
"selection_is_X_independent": true,
|
|
"B_source": "Open3D; small_gicp is used only as an agreement gate",
|
|
"max_translation_m": 0.05,
|
|
"max_rotation_deg": 0.5,
|
|
"input_open3d_pairs": 41,
|
|
"accepted_pairs": 22,
|
|
"pairs": [
|
|
{
|
|
"i": 0,
|
|
"j": 1,
|
|
"open3d_small_translation_m": 0.04084575096493436,
|
|
"open3d_small_rotation_deg": 0.8091245488258404,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 3,
|
|
"open3d_small_translation_m": 0.007440836728606337,
|
|
"open3d_small_rotation_deg": 0.14377171116926005,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 2,
|
|
"open3d_small_translation_m": 0.012040931709501762,
|
|
"open3d_small_rotation_deg": 0.09198739647809913,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 3,
|
|
"open3d_small_translation_m": 0.020167802344555865,
|
|
"open3d_small_rotation_deg": 0.10088741778579047,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 5,
|
|
"open3d_small_translation_m": 0.05126263142175136,
|
|
"open3d_small_rotation_deg": 1.129023564517054,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 4,
|
|
"open3d_small_translation_m": 0.008340648580577372,
|
|
"open3d_small_rotation_deg": 0.48893802037297335,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 5,
|
|
"open3d_small_translation_m": 0.03255543023061846,
|
|
"open3d_small_rotation_deg": 0.04924738744939371,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 5,
|
|
"open3d_small_translation_m": 0.01717130804559543,
|
|
"open3d_small_rotation_deg": 0.18948013657322885,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 6,
|
|
"open3d_small_translation_m": 0.00790599819083906,
|
|
"open3d_small_rotation_deg": 0.1334214273599749,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 7,
|
|
"open3d_small_translation_m": 0.02785621409489221,
|
|
"open3d_small_rotation_deg": 0.4203987393515618,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 9,
|
|
"open3d_small_translation_m": 0.012940492880990915,
|
|
"open3d_small_rotation_deg": 0.16985420735800236,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 12,
|
|
"open3d_small_translation_m": 0.016762449071916253,
|
|
"open3d_small_rotation_deg": 0.43689758943546,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 17,
|
|
"open3d_small_translation_m": 0.038512603544217365,
|
|
"open3d_small_rotation_deg": 1.3958733432618273,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 18,
|
|
"accepted": false,
|
|
"reason": "not_in_small_gicp_refined"
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 18,
|
|
"open3d_small_translation_m": 0.04386909360158492,
|
|
"open3d_small_rotation_deg": 0.49818041971185584,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 19,
|
|
"open3d_small_translation_m": 0.02904786593904068,
|
|
"open3d_small_rotation_deg": 0.6456312776257432,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 20,
|
|
"accepted": false,
|
|
"reason": "not_in_small_gicp_refined"
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 21,
|
|
"open3d_small_translation_m": 0.06690824468510452,
|
|
"open3d_small_rotation_deg": 0.5787554058174607,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 20,
|
|
"accepted": false,
|
|
"reason": "not_in_small_gicp_refined"
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 21,
|
|
"open3d_small_translation_m": 0.02975935281075696,
|
|
"open3d_small_rotation_deg": 0.36957453812106744,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 22,
|
|
"open3d_small_translation_m": 0.01187767303223306,
|
|
"open3d_small_rotation_deg": 0.11119975547992203,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 23,
|
|
"open3d_small_translation_m": 0.02085962034691778,
|
|
"open3d_small_rotation_deg": 0.14906239098917923,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 22,
|
|
"open3d_small_translation_m": 0.07344207054217174,
|
|
"open3d_small_rotation_deg": 0.4720715999477229,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 24,
|
|
"open3d_small_translation_m": 0.003446026826977358,
|
|
"open3d_small_rotation_deg": 0.06718280580638468,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 23,
|
|
"open3d_small_translation_m": 0.0038695246290457396,
|
|
"open3d_small_rotation_deg": 0.19583405427516354,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 24,
|
|
"open3d_small_translation_m": 0.008952357752471345,
|
|
"open3d_small_rotation_deg": 0.2129847177606736,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 24,
|
|
"open3d_small_translation_m": 0.0569515146956438,
|
|
"open3d_small_rotation_deg": 0.6801187045572974,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 25,
|
|
"open3d_small_translation_m": 0.025823784600755004,
|
|
"open3d_small_rotation_deg": 0.7451009005368011,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 26,
|
|
"open3d_small_translation_m": 0.005434928313511662,
|
|
"open3d_small_rotation_deg": 0.38110259637848837,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 26,
|
|
"open3d_small_translation_m": 0.032394639661318274,
|
|
"open3d_small_rotation_deg": 0.6672581993183133,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 28,
|
|
"open3d_small_translation_m": 0.03319908369315011,
|
|
"open3d_small_rotation_deg": 0.3374096789165904,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 29,
|
|
"open3d_small_translation_m": 0.064122224643194,
|
|
"open3d_small_rotation_deg": 0.3369642063017735,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 29,
|
|
"open3d_small_translation_m": 0.04054098962864038,
|
|
"open3d_small_rotation_deg": 0.6304817774750828,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 31,
|
|
"open3d_small_translation_m": 0.06429006702815496,
|
|
"open3d_small_rotation_deg": 0.6364945448655926,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 33,
|
|
"open3d_small_translation_m": 0.02846544971259277,
|
|
"open3d_small_rotation_deg": 0.5396634629075986,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 31,
|
|
"j": 33,
|
|
"accepted": false,
|
|
"reason": "not_in_small_gicp_refined"
|
|
},
|
|
{
|
|
"i": 33,
|
|
"j": 34,
|
|
"accepted": false,
|
|
"reason": "not_in_small_gicp_refined"
|
|
},
|
|
{
|
|
"i": 33,
|
|
"j": 35,
|
|
"open3d_small_translation_m": 0.012003505646551895,
|
|
"open3d_small_rotation_deg": 0.2900810668840737,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 34,
|
|
"j": 35,
|
|
"open3d_small_translation_m": 0.034420937161804874,
|
|
"open3d_small_rotation_deg": 0.3929515224293036,
|
|
"accepted": true,
|
|
"reason": ""
|
|
},
|
|
{
|
|
"i": 34,
|
|
"j": 37,
|
|
"open3d_small_translation_m": 0.017073125816226477,
|
|
"open3d_small_rotation_deg": 0.5761893617071098,
|
|
"accepted": false,
|
|
"reason": "backend_disagreement"
|
|
},
|
|
{
|
|
"i": 35,
|
|
"j": 36,
|
|
"open3d_small_translation_m": 0.009761763696948316,
|
|
"open3d_small_rotation_deg": 0.47958651768297733,
|
|
"accepted": true,
|
|
"reason": ""
|
|
}
|
|
]
|
|
} |