{
  "evaluation": {
    "stationary": true,
    "termination": "gradient_tolerance",
    "errors": {
      "translation_mm": 0.00935091620306295,
      "rotation_radians": 6.143042727484921e-05,
      "landmark_rms_mm": 0.009975743856850895,
      "landmark_max_mm": 0.012200336430683092,
      "landmarks": 8
    },
    "initial_errors": {
      "translation_mm": 3.5355328570761233,
      "rotation_radians": 0.023065125189341593,
      "landmark_rms_mm": 3.7685961725470896,
      "landmark_max_mm": 3.9924729278359012,
      "landmarks": 8
    },
    "held_out": [
      {
        "angle_degrees": 45.0,
        "expected_error_poisson_sd_rms": 0.004482254166948947
      },
      {
        "angle_degrees": 135.0,
        "expected_error_poisson_sd_rms": 0.0041217420842986
      }
    ],
    "geometric_pass": true,
    "held_out_pass": true
  },
  "history": [
    {
      "iteration": 0,
      "loss": 364067.0155442624,
      "gradient_infinity_norm": 124892.63584245207,
      "step": 0.0,
      "evaluations": 1,
      "curvature_pairs": 0
    },
    {
      "iteration": 1,
      "loss": 178543.73095429898,
      "gradient_infinity_norm": 78024.29988640858,
      "step": 1.0,
      "evaluations": 2,
      "curvature_pairs": 1
    },
    {
      "iteration": 2,
      "loss": 63727.34193322337,
      "gradient_infinity_norm": 61732.50887104041,
      "step": 1.0,
      "evaluations": 3,
      "curvature_pairs": 2
    },
    {
      "iteration": 3,
      "loss": 18459.80059582604,
      "gradient_infinity_norm": 7060.237702819615,
      "step": 1.0,
      "evaluations": 4,
      "curvature_pairs": 3
    },
    {
      "iteration": 4,
      "loss": 17319.466434083693,
      "gradient_infinity_norm": 2712.335925804109,
      "step": 1.0,
      "evaluations": 5,
      "curvature_pairs": 4
    },
    {
      "iteration": 5,
      "loss": 17055.739318603242,
      "gradient_infinity_norm": 2375.076575704931,
      "step": 1.0,
      "evaluations": 6,
      "curvature_pairs": 5
    },
    {
      "iteration": 6,
      "loss": 16860.428915706005,
      "gradient_infinity_norm": 1765.7127722145613,
      "step": 1.0,
      "evaluations": 7,
      "curvature_pairs": 6
    },
    {
      "iteration": 7,
      "loss": 16494.968089610702,
      "gradient_infinity_norm": 1654.2695815298748,
      "step": 1.0,
      "evaluations": 8,
      "curvature_pairs": 7
    },
    {
      "iteration": 8,
      "loss": 16461.581318339275,
      "gradient_infinity_norm": 2475.3208346439123,
      "step": 1.0,
      "evaluations": 9,
      "curvature_pairs": 8
    },
    {
      "iteration": 9,
      "loss": 16366.66913641517,
      "gradient_infinity_norm": 603.7395945743986,
      "step": 1.0,
      "evaluations": 10,
      "curvature_pairs": 9
    },
    {
      "iteration": 10,
      "loss": 16360.090118296332,
      "gradient_infinity_norm": 77.16905766749662,
      "step": 1.0,
      "evaluations": 11,
      "curvature_pairs": 10
    },
    {
      "iteration": 11,
      "loss": 16359.82200559909,
      "gradient_infinity_norm": 20.12640930517187,
      "step": 1.0,
      "evaluations": 12,
      "curvature_pairs": 10
    },
    {
      "iteration": 12,
      "loss": 16359.81413792224,
      "gradient_infinity_norm": 3.0050932072106757,
      "step": 1.0,
      "evaluations": 13,
      "curvature_pairs": 10
    },
    {
      "iteration": 13,
      "loss": 16359.814018723893,
      "gradient_infinity_norm": 0.35308903040048634,
      "step": 1.0,
      "evaluations": 14,
      "curvature_pairs": 10
    },
    {
      "iteration": 14,
      "loss": 16359.814016303098,
      "gradient_infinity_norm": 0.031667272013059744,
      "step": 1.0,
      "evaluations": 15,
      "curvature_pairs": 10
    },
    {
      "iteration": 15,
      "loss": 16359.814016292074,
      "gradient_infinity_norm": 0.0010771429085814077,
      "step": 1.0,
      "evaluations": 16,
      "curvature_pairs": 10
    },
    {
      "iteration": 16,
      "loss": 16359.814016292035,
      "gradient_infinity_norm": 0.00011913366639504375,
      "step": 1.0,
      "evaluations": 17,
      "curvature_pairs": 10
    }
  ],
  "independent_rms_error_mm": [
    3.7685961725470896,
    2.5956467048444662,
    1.3031714266643428,
    0.4933601171502072,
    0.4188929104659031,
    0.38216211165685954,
    0.32937900056576547,
    0.14588508746865975,
    0.052678569465662274,
    0.02246971431731771,
    0.011239755490126206,
    0.009742178288682133,
    0.010001270457881649,
    0.009970465405597198,
    0.009975364283668714,
    0.00997571268781545,
    0.009975743856847834
  ],
  "accepted_pose": {
    "rotation": [
      0.9997666598636424,
      -0.0179920186903846,
      -0.011954626240114135,
      0.017895725297165526,
      0.999806937252335,
      -0.008113645185347088,
      0.012098299102946826,
      0.007897815239049814,
      0.99989562238929
    ],
    "translation_mm": [
      1.4986676889686343,
      -1.9980329661379306,
      2.4928670811781415
    ]
  }
}