{
  "accepted": true,
  "frame": 0,
  "method": "masked loftr; fixed-baseline stereo; train-only PnP RANSAC; robust bundle adjustment",
  "appearance_training_images": [
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    "ext2_left"
  ],
  "calibration_only_images": [
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    "ext2_right"
  ],
  "feature_counts": null,
  "cross_matches": null,
  "three_view_tracks": 151,
  "training_consensus_tracks": 31,
  "heldout_before": {
    "count": 37,
    "median_px": 66.45382986468394,
    "p90_px": 78.47183499876365,
    "within_3px_fraction": 0.0,
    "positive_depth_fraction": 1.0
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    "median_px": 7.165312252170123,
    "p90_px": 34.02925586627795,
    "within_3px_fraction": 0.2972972972972973,
    "positive_depth_fraction": 1.0
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    "reprojection_p90_px": 19.26098821992043,
    "within_3px_fraction": 0.3384615384615385,
    "positive_depth_fraction": 1.0,
    "epipolar_median_px": 15.037206301720692,
    "epipolar_p90_px": 18.290907645919635,
    "four_view_tracks": 19,
    "four_view_reprojection_median_px": 5.1453857129224705
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  "heldout_rig_after": {
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    "reprojection_p90_px": 1.3536751065194934,
    "within_3px_fraction": 0.9692307692307692,
    "positive_depth_fraction": 1.0,
    "epipolar_median_px": 0.5132829846117734,
    "epipolar_p90_px": 1.6776975561039436,
    "four_view_tracks": 19,
    "four_view_reprojection_median_px": 0.5294047478001646
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  "matching_perspective_normalization": true,
  "feature_rotation_quarter_turns": 0,
  "rotation_change_deg": 5.938467072434652,
  "camera_center_change_m": 0.03509988452840598,
  "optimizer": {
    "success": true,
    "message": "`ftol` termination condition is satisfied.",
    "nfev": 10
  },
  "world_from_camera": {
    "ext1": [
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        -0.756711653417621,
        -0.27160423137160716,
        0.5946584020116162,
        0.2256552520414773
      ],
      [
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        0.29592113880925086,
        -0.6965759112708032,
        0.6071800031562721
      ],
      [
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        -0.9157848115724976,
        -0.40145159702539657,
        0.28626581597666506
      ],
      [
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        0.0,
        1.0
      ]
    ],
    "ext2": [
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        0.5631637819810279,
        -0.34068025250672546,
        0.7528502641407381,
        0.15369730721964586
      ],
      [
        -0.8244913630900901,
        -0.17066289024966863,
        0.5395258752659366,
        -0.3860822814731317
      ],
      [
        -0.0553222094160265,
        -0.9245599728755207,
        -0.3769990844839625,
        0.3040676882147117
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
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    ]
  },
  "input_sha256": {
    "cameras.json": "9e7e871d04ea46831c22d4138af2412ac9ddc52c8fec0015c02bd645a99b8eac",
    "frames/ext1/0000_left.png": "6733a6d9de24755467d30039c538356a83cbe4545c7ee7af8c7f57384ea4a538",
    "frames/ext1/0000_right.png": "71c9752832ec7e0dca2dec063cd397f04782817accaa5d72f10dd3f36156e896",
    "frames/ext2/0000_left.png": "fcdee6cff144ba70f85d2bf792999115987be31b6ffa8b0366b5ace2e52e25c9",
    "frames/ext2/0000_right.png": "ac3e336d0f86b5ee52d92f8c2e2ddf6b4d69a5f0b19028d8a105fbd8d17e451d"
  },
  "limitations": [
    "Ext1 robot-frame alignment is inherited, not independently validated.",
    "Fixed-depth transfer triangulates only ext1 stereo; rig validation fits held-out landmarks with cameras fixed, never updates poses.",
    "Plane-normalized LoFTR matches the dominant support surface; planar coverage limits calibration observability.",
    "Two left images provide limited coverage; calibration validation is held-out correspondences, not held-out camera views.",
    "Static masks are manual and specific to this frame; no generated images or learned depth used for calibration."
  ]
}