Add Label Factory dataset 0009_ (part 3)

.gitattributes

@@ -103,3 +103,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 0008_/objects/stl/eppendorf_tarto.stl filter=lfs diff=lfs merge=lfs -text
 0008_/reconstruction/mvs_filtered_metric.ply filter=lfs diff=lfs merge=lfs -text
 0008_/sam6d_scene/annotations.json filter=lfs diff=lfs merge=lfs -text
+0009_/objects/stl/Tube.stl filter=lfs diff=lfs merge=lfs -text
+0009_/objects/stl/TubeHolder.stl filter=lfs diff=lfs merge=lfs -text
+0009_/objects/stl/eppendorf_tarto.stl filter=lfs diff=lfs merge=lfs -text
+0009_/reconstruction/mvs_filtered_metric.ply filter=lfs diff=lfs merge=lfs -text
+0009_/sam6d_scene/annotations.json filter=lfs diff=lfs merge=lfs -text

0009_/objects/stl/Tube.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e996aa5bfc37f6ec51f319788fb4a2eaf1b3fbaee62eeb9c9af4b0828f2d01
+size 122284

0009_/objects/stl/TubeHolder.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ad60c6c97a7c7cfb3cf6d9cf6e4a09fea19865821bb5f4a37c5f53e746d3d4
+size 980184

0009_/objects/stl/eppendorf_tarto.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d698d64d81473da4ef3e670b532046ae03c6d76df03022f6f00a0770163feef
+size 1156284

0009_/reconstruction/metric_alignment/depth_scale_report.json

@@ -0,0 +1,2292 @@
+{
+  "format": "depth_metric_scale_v1",
+  "scale_metres_per_reconstruction_unit": 0.06639896903272281,
+  "rotation": [
+    [
+      1.0,
+      0.0,
+      0.0
+    ],
+    [
+      0.0,
+      1.0,
+      0.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "translation_m": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "note": "Depth establishes global scale. Reconstruction origin and orientation are retained.",
+  "input_cloud": "/workspace/data/0009_/reconstruction/mvs_filtered.ply",
+  "scaled_cloud": "/workspace/data/0009_/reconstruction/mvs_filtered_metric.ply",
+  "camera_model": "/workspace/data/0009_/reconstruction/sfm_filtered",
+  "camera_json": "/workspace/data/0009_/camera.json",
+  "metric_camera_poses": "/workspace/data/0009_/reconstruction/metric_alignment/camera_poses_metric.json",
+  "number_of_metric_camera_poses": 250,
+  "depth_maps": "/workspace/data/0009_/depth_maps",
+  "estimation_points": 56856,
+  "usable_frames": 250,
+  "accepted_frames": 250,
+  "raw_frame_scale_median": 0.06639896903272281,
+  "raw_frame_scale_robust_sigma": 0.00011761270415336745,
+  "median_absolute_depth_error_m": 0.002238673905569144,
+  "frames": [
+    {
+      "frame_id": 0,
+      "image_name": "000000.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000000.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638168799455473,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002546337379449176
+    },
+    {
+      "frame_id": 1,
+      "image_name": "000001.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000001.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634980278846858,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002651105183376884
+    },
+    {
+      "frame_id": 2,
+      "image_name": "000002.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000002.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06635810397842329,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025300703542782965
+    },
+    {
+      "frame_id": 3,
+      "image_name": "000003.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000003.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06629352968250797,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00251639927634964
+    },
+    {
+      "frame_id": 4,
+      "image_name": "000004.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000004.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640090826869316,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002792561470545407
+    },
+    {
+      "frame_id": 5,
+      "image_name": "000005.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000005.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06630654071628247,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0029121829884443673
+    },
+    {
+      "frame_id": 6,
+      "image_name": "000006.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000006.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06628636511970948,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002223548755658028
+    },
+    {
+      "frame_id": 7,
+      "image_name": "000007.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000007.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06626952320580769,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001707319095124088
+    },
+    {
+      "frame_id": 8,
+      "image_name": "000008.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000008.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640463068891961,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002084171642201371
+    },
+    {
+      "frame_id": 9,
+      "image_name": "000009.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000009.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06635819081907576,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018916211521828041
+    },
+    {
+      "frame_id": 10,
+      "image_name": "000010.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000010.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06637157379219397,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018503235866461631
+    },
+    {
+      "frame_id": 11,
+      "image_name": "000011.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000011.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652033134169483,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021677191028189047
+    },
+    {
+      "frame_id": 12,
+      "image_name": "000012.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000012.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633700023583992,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018722327432393049
+    },
+    {
+      "frame_id": 13,
+      "image_name": "000013.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000013.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647645757145762,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001868601426969707
+    },
+    {
+      "frame_id": 14,
+      "image_name": "000014.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000014.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643687804324247,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019502470227076851
+    },
+    {
+      "frame_id": 15,
+      "image_name": "000015.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000015.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638656374780069,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018560843167552687
+    },
+    {
+      "frame_id": 16,
+      "image_name": "000016.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000016.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638938681295539,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017765550633194183
+    },
+    {
+      "frame_id": 17,
+      "image_name": "000017.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000017.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639775836353379,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001833074178913624
+    },
+    {
+      "frame_id": 18,
+      "image_name": "000018.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000018.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644729207871414,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022543769487722853
+    },
+    {
+      "frame_id": 19,
+      "image_name": "000019.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000019.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663163753400538,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025313592396484785
+    },
+    {
+      "frame_id": 20,
+      "image_name": "000020.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000020.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06630880762076158,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027108120722182383
+    },
+    {
+      "frame_id": 21,
+      "image_name": "000021.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000021.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06651200340833949,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027014608419401176
+    },
+    {
+      "frame_id": 22,
+      "image_name": "000022.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000022.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06645774144003537,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026940314809091592
+    },
+    {
+      "frame_id": 23,
+      "image_name": "000023.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000023.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06631154478625328,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025130756038287683
+    },
+    {
+      "frame_id": 24,
+      "image_name": "000024.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000024.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06629811149947726,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002499092548466114
+    },
+    {
+      "frame_id": 25,
+      "image_name": "000025.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000025.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0665518749575588,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002526446862423898
+    },
+    {
+      "frame_id": 26,
+      "image_name": "000026.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000026.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0665522820147158,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021061032298736737
+    },
+    {
+      "frame_id": 27,
+      "image_name": "000027.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000027.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06649572387841488,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016869183145884203
+    },
+    {
+      "frame_id": 28,
+      "image_name": "000028.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000028.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06651894995981374,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001417092317230334
+    },
+    {
+      "frame_id": 29,
+      "image_name": "000029.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000029.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06662147888740724,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017268448510376344
+    },
+    {
+      "frame_id": 30,
+      "image_name": "000030.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000030.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06653244423992338,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014832539598063632
+    },
+    {
+      "frame_id": 31,
+      "image_name": "000031.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000031.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650194085118007,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014292117607078991
+    },
+    {
+      "frame_id": 32,
+      "image_name": "000032.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000032.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06645538024047079,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0013661324435924882
+    },
+    {
+      "frame_id": 33,
+      "image_name": "000033.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000033.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06656563671092369,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001736635667354769
+    },
+    {
+      "frame_id": 34,
+      "image_name": "000034.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000034.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650077072424385,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021546379678262784
+    },
+    {
+      "frame_id": 35,
+      "image_name": "000035.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000035.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06649803394150788,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018394265896934936
+    },
+    {
+      "frame_id": 36,
+      "image_name": "000036.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000036.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640498581839543,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018066256219231025
+    },
+    {
+      "frame_id": 37,
+      "image_name": "000037.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000037.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647422620816301,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002219107393222952
+    },
+    {
+      "frame_id": 38,
+      "image_name": "000038.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000038.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06629058988907419,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021685045708721984
+    },
+    {
+      "frame_id": 39,
+      "image_name": "000039.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000039.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663293411058874,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023130471070521297
+    },
+    {
+      "frame_id": 40,
+      "image_name": "000040.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000040.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634105950107352,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028174572509910845
+    },
+    {
+      "frame_id": 41,
+      "image_name": "000041.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000041.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642518793226983,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00247642091012637
+    },
+    {
+      "frame_id": 42,
+      "image_name": "000042.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000042.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663963904200501,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002763306928733944
+    },
+    {
+      "frame_id": 43,
+      "image_name": "000043.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000043.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639910966169774,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002423698690361381
+    },
+    {
+      "frame_id": 44,
+      "image_name": "000044.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000044.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638655049854449,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025794650456019974
+    },
+    {
+      "frame_id": 45,
+      "image_name": "000045.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000045.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643370822052536,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025326120916769057
+    },
+    {
+      "frame_id": 46,
+      "image_name": "000046.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000046.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06645547755071454,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002908601749722073
+    },
+    {
+      "frame_id": 47,
+      "image_name": "000047.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000047.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650260584892008,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027142595535248337
+    },
+    {
+      "frame_id": 48,
+      "image_name": "000048.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000048.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632106551453579,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002609897488098478
+    },
+    {
+      "frame_id": 49,
+      "image_name": "000049.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000049.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644949962180591,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027468626924516404
+    },
+    {
+      "frame_id": 50,
+      "image_name": "000050.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000050.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643158897582865,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028120000453213945
+    },
+    {
+      "frame_id": 51,
+      "image_name": "000051.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000051.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638606972644978,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027471693876056635
+    },
+    {
+      "frame_id": 52,
+      "image_name": "000052.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000052.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06629055585691546,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002964068092056904
+    },
+    {
+      "frame_id": 53,
+      "image_name": "000053.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000053.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06623198714656406,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027216067420548218
+    },
+    {
+      "frame_id": 54,
+      "image_name": "000054.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000054.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06615781660477052,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026099573826437183
+    },
+    {
+      "frame_id": 55,
+      "image_name": "000055.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000055.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662360363322636,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023589665379636082
+    },
+    {
+      "frame_id": 56,
+      "image_name": "000056.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000056.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06622202361956545,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002299057464309584
+    },
+    {
+      "frame_id": 57,
+      "image_name": "000057.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000057.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662508822539423,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002050274790132367
+    },
+    {
+      "frame_id": 58,
+      "image_name": "000058.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000058.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06619115994617517,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022263411214344386
+    },
+    {
+      "frame_id": 59,
+      "image_name": "000059.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000059.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663179785471329,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002364957380896371
+    },
+    {
+      "frame_id": 60,
+      "image_name": "000060.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000060.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638981622166767,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024738135978631393
+    },
+    {
+      "frame_id": 61,
+      "image_name": "000061.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000061.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663054022041984,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023424655358089685
+    },
+    {
+      "frame_id": 62,
+      "image_name": "000062.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000062.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632707636842135,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023504636135255053
+    },
+    {
+      "frame_id": 63,
+      "image_name": "000063.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000063.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0661831592263001,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00231997882562604
+    },
+    {
+      "frame_id": 64,
+      "image_name": "000064.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000064.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634869389038142,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024136045479415114
+    },
+    {
+      "frame_id": 65,
+      "image_name": "000065.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000065.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652174302683442,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002993594435495378
+    },
+    {
+      "frame_id": 66,
+      "image_name": "000066.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000066.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06636385514705817,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028517416303491805
+    },
+    {
+      "frame_id": 67,
+      "image_name": "000067.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000067.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06635822257654868,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025834719940618367
+    },
+    {
+      "frame_id": 68,
+      "image_name": "000068.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000068.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663883069152469,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025457115273666564
+    },
+    {
+      "frame_id": 69,
+      "image_name": "000069.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000069.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647386667743208,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026367858332698446
+    },
+    {
+      "frame_id": 70,
+      "image_name": "000070.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000070.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634143709227577,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024114248965851903
+    },
+    {
+      "frame_id": 71,
+      "image_name": "000071.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000071.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06624597631551418,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023983289808989228
+    },
+    {
+      "frame_id": 72,
+      "image_name": "000072.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000072.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06635827011960277,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002448285450626919
+    },
+    {
+      "frame_id": 73,
+      "image_name": "000073.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000073.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06631690430957146,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022737731309060427
+    },
+    {
+      "frame_id": 74,
+      "image_name": "000074.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000074.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06601719512376507,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0025381830702835284
+    },
+    {
+      "frame_id": 75,
+      "image_name": "000075.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000075.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06610248814089585,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002275453509987091
+    },
+    {
+      "frame_id": 76,
+      "image_name": "000076.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000076.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06620326291744268,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0020707193060411078
+    },
+    {
+      "frame_id": 77,
+      "image_name": "000077.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000077.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06617286233365749,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002046882880577014
+    },
+    {
+      "frame_id": 78,
+      "image_name": "000078.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000078.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06627655074118882,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0020607707381005286
+    },
+    {
+      "frame_id": 79,
+      "image_name": "000079.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000079.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06626743853743697,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0020292667135424908
+    },
+    {
+      "frame_id": 80,
+      "image_name": "000080.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000080.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643079893622572,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019273747631841642
+    },
+    {
+      "frame_id": 81,
+      "image_name": "000081.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000081.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06658565233623862,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019300411581160692
+    },
+    {
+      "frame_id": 82,
+      "image_name": "000082.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000082.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06657824150510874,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018973509282414203
+    },
+    {
+      "frame_id": 83,
+      "image_name": "000083.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000083.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06658599227799292,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001803548323203702
+    },
+    {
+      "frame_id": 84,
+      "image_name": "000084.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000084.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06655172571859973,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019010299282608278
+    },
+    {
+      "frame_id": 85,
+      "image_name": "000085.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000085.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06657437381271267,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018615940307240564
+    },
+    {
+      "frame_id": 86,
+      "image_name": "000086.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000086.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647442646422926,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015461174991722726
+    },
+    {
+      "frame_id": 87,
+      "image_name": "000087.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000087.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632334839192303,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0012963632823429494
+    },
+    {
+      "frame_id": 88,
+      "image_name": "000088.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000088.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639552188232864,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0013343522232923954
+    },
+    {
+      "frame_id": 89,
+      "image_name": "000089.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000089.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662727021829909,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014972082452419377
+    },
+    {
+      "frame_id": 90,
+      "image_name": "000090.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000090.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06613595800064662,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019041489772218811
+    },
+    {
+      "frame_id": 91,
+      "image_name": "000091.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000091.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06616682855326339,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017061843316211467
+    },
+    {
+      "frame_id": 92,
+      "image_name": "000092.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000092.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06630985116434465,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014917145349702954
+    },
+    {
+      "frame_id": 93,
+      "image_name": "000093.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000093.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662868587777285,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018286144277598892
+    },
+    {
+      "frame_id": 94,
+      "image_name": "000094.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000094.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06630961469001256,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019276418947331009
+    },
+    {
+      "frame_id": 95,
+      "image_name": "000095.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000095.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663503520313661,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002028521755349566
+    },
+    {
+      "frame_id": 96,
+      "image_name": "000096.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000096.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642860588318587,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019301479262418542
+    },
+    {
+      "frame_id": 97,
+      "image_name": "000097.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000097.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642396632847805,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021601851433849517
+    },
+    {
+      "frame_id": 98,
+      "image_name": "000098.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000098.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06653338268700112,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026713798116551613
+    },
+    {
+      "frame_id": 99,
+      "image_name": "000099.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000099.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06637340484008117,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002404781152815061
+    },
+    {
+      "frame_id": 100,
+      "image_name": "000100.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000100.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0664088912975519,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022849026396253858
+    },
+    {
+      "frame_id": 101,
+      "image_name": "000101.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000101.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633552558962526,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002383960819655445
+    },
+    {
+      "frame_id": 102,
+      "image_name": "000102.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000102.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634154030797917,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026588731962354506
+    },
+    {
+      "frame_id": 103,
+      "image_name": "000103.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000103.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06641654783050233,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002982332794025072
+    },
+    {
+      "frame_id": 104,
+      "image_name": "000104.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000104.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643150443390176,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0030171115859561615
+    },
+    {
+      "frame_id": 105,
+      "image_name": "000105.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000105.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638870438455077,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028287638378813595
+    },
+    {
+      "frame_id": 106,
+      "image_name": "000106.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000106.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06648050341330078,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0034788845031809013
+    },
+    {
+      "frame_id": 107,
+      "image_name": "000107.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000107.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644389818795235,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003351603128455699
+    },
+    {
+      "frame_id": 108,
+      "image_name": "000108.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000108.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639351322669892,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028811635201240887
+    },
+    {
+      "frame_id": 109,
+      "image_name": "000109.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000109.png",
+      "correspondences": 19776,
+      "raw_median_scale": 0.06639692292124741,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00276837893971707
+    },
+    {
+      "frame_id": 110,
+      "image_name": "000110.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000110.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662457243227545,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002908392144421984
+    },
+    {
+      "frame_id": 111,
+      "image_name": "000111.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000111.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06624387198989352,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0029744098022195242
+    },
+    {
+      "frame_id": 112,
+      "image_name": "000112.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000112.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662274578534354,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002964756612806818
+    },
+    {
+      "frame_id": 113,
+      "image_name": "000113.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000113.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643396595372741,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0030383619473454693
+    },
+    {
+      "frame_id": 114,
+      "image_name": "000114.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000114.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632575615782324,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003322956632828278
+    },
+    {
+      "frame_id": 115,
+      "image_name": "000115.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000115.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06636861655810371,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0030966778974512166
+    },
+    {
+      "frame_id": 116,
+      "image_name": "000116.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000116.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634243762503644,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0032346732525791178
+    },
+    {
+      "frame_id": 117,
+      "image_name": "000117.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000117.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06648278042899773,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0036492737730680624
+    },
+    {
+      "frame_id": 118,
+      "image_name": "000118.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000118.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06641507541613265,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0034830275705473035
+    },
+    {
+      "frame_id": 119,
+      "image_name": "000119.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000119.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652106736483683,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0037575672634624357
+    },
+    {
+      "frame_id": 120,
+      "image_name": "000120.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000120.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06656407256175456,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004162833864809451
+    },
+    {
+      "frame_id": 121,
+      "image_name": "000121.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000121.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.066612454680651,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004659833676050162
+    },
+    {
+      "frame_id": 122,
+      "image_name": "000122.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000122.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06661916887562319,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004826432327170033
+    },
+    {
+      "frame_id": 123,
+      "image_name": "000123.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000123.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06666957608946643,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004871473098554707
+    },
+    {
+      "frame_id": 124,
+      "image_name": "000124.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000124.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06665794669899172,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004634349609970334
+    },
+    {
+      "frame_id": 125,
+      "image_name": "000125.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000125.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06654798831078665,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004275801343840452
+    },
+    {
+      "frame_id": 126,
+      "image_name": "000126.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000126.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642289369023688,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003537755782645563
+    },
+    {
+      "frame_id": 127,
+      "image_name": "000127.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000127.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0664253244759434,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0035884028654039613
+    },
+    {
+      "frame_id": 128,
+      "image_name": "000128.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000128.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06646316029787218,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0037270425134813545
+    },
+    {
+      "frame_id": 129,
+      "image_name": "000129.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000129.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642654815563051,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.004266749019043864
+    },
+    {
+      "frame_id": 130,
+      "image_name": "000130.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000130.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642212788766155,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0030454599914711278
+    },
+    {
+      "frame_id": 131,
+      "image_name": "000131.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000131.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06643073593601168,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003200168931689229
+    },
+    {
+      "frame_id": 132,
+      "image_name": "000132.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000132.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06655183768659156,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003301456500730035
+    },
+    {
+      "frame_id": 133,
+      "image_name": "000133.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000133.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06660898216439916,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003426256441035974
+    },
+    {
+      "frame_id": 134,
+      "image_name": "000134.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000134.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06653011907552836,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002228916041968426
+    },
+    {
+      "frame_id": 135,
+      "image_name": "000135.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000135.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06646507334602042,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002073750930246643
+    },
+    {
+      "frame_id": 136,
+      "image_name": "000136.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000136.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06651325451803779,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001787630699403936
+    },
+    {
+      "frame_id": 137,
+      "image_name": "000137.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000137.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06636895889916011,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016880602594555039
+    },
+    {
+      "frame_id": 138,
+      "image_name": "000138.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000138.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642456645902454,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015817565569244685
+    },
+    {
+      "frame_id": 139,
+      "image_name": "000139.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000139.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06631361528558172,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015259626257726755
+    },
+    {
+      "frame_id": 140,
+      "image_name": "000140.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000140.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638012314333952,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014556950535752622
+    },
+    {
+      "frame_id": 141,
+      "image_name": "000141.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000141.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06637411122554099,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015365669619017142
+    },
+    {
+      "frame_id": 142,
+      "image_name": "000142.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000142.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633367530994133,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016122877487788623
+    },
+    {
+      "frame_id": 143,
+      "image_name": "000143.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000143.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632245007815243,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001583063240906929
+    },
+    {
+      "frame_id": 144,
+      "image_name": "000144.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000144.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663973558690396,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015542424821578804
+    },
+    {
+      "frame_id": 145,
+      "image_name": "000145.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000145.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639882840374789,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015135038787228994
+    },
+    {
+      "frame_id": 146,
+      "image_name": "000146.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000146.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06636437942924074,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016471849369203706
+    },
+    {
+      "frame_id": 147,
+      "image_name": "000147.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000147.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06635063690724975,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016680379423618386
+    },
+    {
+      "frame_id": 148,
+      "image_name": "000148.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000148.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0663261953251616,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016032462564004313
+    },
+    {
+      "frame_id": 149,
+      "image_name": "000149.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000149.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644295204169312,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015637870633533335
+    },
+    {
+      "frame_id": 150,
+      "image_name": "000150.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000150.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633994024599327,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016063523837490379
+    },
+    {
+      "frame_id": 151,
+      "image_name": "000151.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000151.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06628706978617221,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016611060803785327
+    },
+    {
+      "frame_id": 152,
+      "image_name": "000152.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000152.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06627497451030431,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016907230865520484
+    },
+    {
+      "frame_id": 153,
+      "image_name": "000153.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000153.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06646096332027217,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014311223206588675
+    },
+    {
+      "frame_id": 154,
+      "image_name": "000154.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000154.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647691654148549,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016082691441485775
+    },
+    {
+      "frame_id": 155,
+      "image_name": "000155.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000155.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640594434591757,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00141334534364293
+    },
+    {
+      "frame_id": 156,
+      "image_name": "000156.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000156.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639674659623337,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014879000996914638
+    },
+    {
+      "frame_id": 157,
+      "image_name": "000157.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000157.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06637347158169474,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0014120896470206645
+    },
+    {
+      "frame_id": 158,
+      "image_name": "000158.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000158.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633170655324444,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001564903738456913
+    },
+    {
+      "frame_id": 159,
+      "image_name": "000159.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000159.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06637384437327977,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015470966700883992
+    },
+    {
+      "frame_id": 160,
+      "image_name": "000160.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000160.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06638193265975584,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0015941620264357526
+    },
+    {
+      "frame_id": 161,
+      "image_name": "000161.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000161.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642059279688972,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017839961330676501
+    },
+    {
+      "frame_id": 162,
+      "image_name": "000162.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000162.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640078452349499,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001735906604147297
+    },
+    {
+      "frame_id": 163,
+      "image_name": "000163.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000163.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06648323374736076,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019395460047075264
+    },
+    {
+      "frame_id": 164,
+      "image_name": "000164.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000164.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644347020701324,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001857941756728848
+    },
+    {
+      "frame_id": 165,
+      "image_name": "000165.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000165.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644316383182988,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002158069222951392
+    },
+    {
+      "frame_id": 166,
+      "image_name": "000166.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000166.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652570121514277,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002209825794099979
+    },
+    {
+      "frame_id": 167,
+      "image_name": "000167.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000167.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06654261829418982,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021741735470494905
+    },
+    {
+      "frame_id": 168,
+      "image_name": "000168.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000168.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06646741395655908,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021791495297568686
+    },
+    {
+      "frame_id": 169,
+      "image_name": "000169.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000169.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0664752479549707,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022003906456535827
+    },
+    {
+      "frame_id": 170,
+      "image_name": "000170.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000170.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06645651553592129,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002289259468909538
+    },
+    {
+      "frame_id": 171,
+      "image_name": "000171.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000171.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644819097659332,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021501812119448516
+    },
+    {
+      "frame_id": 172,
+      "image_name": "000172.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000172.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650296015600679,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002240389519650221
+    },
+    {
+      "frame_id": 173,
+      "image_name": "000173.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000173.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640464961612703,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021291901027650217
+    },
+    {
+      "frame_id": 174,
+      "image_name": "000174.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000174.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06651816904708652,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0023198829872058957
+    },
+    {
+      "frame_id": 175,
+      "image_name": "000175.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000175.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06641137855223136,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021865474682740693
+    },
+    {
+      "frame_id": 176,
+      "image_name": "000176.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000176.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0665251557884999,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021482342478669203
+    },
+    {
+      "frame_id": 177,
+      "image_name": "000177.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000177.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644296542213465,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022015678090256674
+    },
+    {
+      "frame_id": 178,
+      "image_name": "000178.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000178.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633490922201815,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0020895569720782436
+    },
+    {
+      "frame_id": 179,
+      "image_name": "000179.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000179.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639079330127837,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021716680232819474
+    },
+    {
+      "frame_id": 180,
+      "image_name": "000180.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000180.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06628883144158888,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026103198976379915
+    },
+    {
+      "frame_id": 181,
+      "image_name": "000181.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000181.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662680033670133,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002480921141383638
+    },
+    {
+      "frame_id": 182,
+      "image_name": "000182.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000182.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06625484876827453,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00254558047062442
+    },
+    {
+      "frame_id": 183,
+      "image_name": "000183.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000183.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06622727857863461,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002682852742849129
+    },
+    {
+      "frame_id": 184,
+      "image_name": "000184.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000184.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634096252147545,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027460657531287735
+    },
+    {
+      "frame_id": 185,
+      "image_name": "000185.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000185.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0662128402471702,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00283685382156966
+    },
+    {
+      "frame_id": 186,
+      "image_name": "000186.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000186.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642845918225795,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0029183014851683897
+    },
+    {
+      "frame_id": 187,
+      "image_name": "000187.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000187.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06628244650811628,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0032352366566427426
+    },
+    {
+      "frame_id": 188,
+      "image_name": "000188.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000188.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06620450084458274,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0031264924999562793
+    },
+    {
+      "frame_id": 189,
+      "image_name": "000189.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000189.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06614705153873127,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0031193305202200095
+    },
+    {
+      "frame_id": 190,
+      "image_name": "000190.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000190.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06612500465508306,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002906359789245694
+    },
+    {
+      "frame_id": 191,
+      "image_name": "000191.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000191.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06618275627118513,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003029262687500811
+    },
+    {
+      "frame_id": 192,
+      "image_name": "000192.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000192.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06627519367776066,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003233069236057734
+    },
+    {
+      "frame_id": 193,
+      "image_name": "000193.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000193.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06630814572286609,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0029377398797174326
+    },
+    {
+      "frame_id": 194,
+      "image_name": "000194.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000194.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06622824938658711,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0026141354685061124
+    },
+    {
+      "frame_id": 195,
+      "image_name": "000195.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000195.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06610526840207706,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024145803598394078
+    },
+    {
+      "frame_id": 196,
+      "image_name": "000196.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000196.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06618790188072778,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022937005255385945
+    },
+    {
+      "frame_id": 197,
+      "image_name": "000197.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000197.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06618513027719512,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0020774175992573085
+    },
+    {
+      "frame_id": 198,
+      "image_name": "000198.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000198.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06621081935803996,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017724871056743752
+    },
+    {
+      "frame_id": 199,
+      "image_name": "000199.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000199.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06619626164673148,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018466202876241677
+    },
+    {
+      "frame_id": 200,
+      "image_name": "000200.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000200.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06618808018714431,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001938353144679772
+    },
+    {
+      "frame_id": 201,
+      "image_name": "000201.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000201.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06617541430010357,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019493434527203257
+    },
+    {
+      "frame_id": 202,
+      "image_name": "000202.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000202.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06623163579547092,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018121665511705576
+    },
+    {
+      "frame_id": 203,
+      "image_name": "000203.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000203.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06624779516553465,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017492706823706572
+    },
+    {
+      "frame_id": 204,
+      "image_name": "000204.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000204.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06632211869861664,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019322529223992357
+    },
+    {
+      "frame_id": 205,
+      "image_name": "000205.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000205.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634416904879233,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019023068823835199
+    },
+    {
+      "frame_id": 206,
+      "image_name": "000206.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000206.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06636846178439226,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0019439709118777293
+    },
+    {
+      "frame_id": 207,
+      "image_name": "000207.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000207.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640157853119605,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018390670993982672
+    },
+    {
+      "frame_id": 208,
+      "image_name": "000208.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000208.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650566847514718,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018897224233752064
+    },
+    {
+      "frame_id": 209,
+      "image_name": "000209.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000209.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06656606721103736,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022109562760277146
+    },
+    {
+      "frame_id": 210,
+      "image_name": "000210.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000210.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06671532524430518,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002299274088599257
+    },
+    {
+      "frame_id": 211,
+      "image_name": "000211.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000211.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06670228611925388,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002094972070799672
+    },
+    {
+      "frame_id": 212,
+      "image_name": "000212.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000212.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0667141480766755,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00208763668977896
+    },
+    {
+      "frame_id": 213,
+      "image_name": "000213.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000213.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06664645272461986,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001977125917572098
+    },
+    {
+      "frame_id": 214,
+      "image_name": "000214.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000214.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06666920579445676,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018787491433840675
+    },
+    {
+      "frame_id": 215,
+      "image_name": "000215.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000215.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06673512163629261,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002021289712014096
+    },
+    {
+      "frame_id": 216,
+      "image_name": "000216.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000216.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06661664752938609,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016674575973658068
+    },
+    {
+      "frame_id": 217,
+      "image_name": "000217.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000217.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06668361170705778,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001857925523965298
+    },
+    {
+      "frame_id": 218,
+      "image_name": "000218.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000218.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06659299442415167,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016282641061344527
+    },
+    {
+      "frame_id": 219,
+      "image_name": "000219.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000219.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.066587770028876,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016105857052814976
+    },
+    {
+      "frame_id": 220,
+      "image_name": "000220.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000220.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0667068384240112,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002065843037550724
+    },
+    {
+      "frame_id": 221,
+      "image_name": "000221.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000221.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06655494088228478,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.001755945410753218
+    },
+    {
+      "frame_id": 222,
+      "image_name": "000222.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000222.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652360319147119,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017549806736487095
+    },
+    {
+      "frame_id": 223,
+      "image_name": "000223.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000223.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0664099693929587,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0017262780234959252
+    },
+    {
+      "frame_id": 224,
+      "image_name": "000224.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000224.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06651051524214202,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002076617273528425
+    },
+    {
+      "frame_id": 225,
+      "image_name": "000225.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000225.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639217759434018,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021950615446394844
+    },
+    {
+      "frame_id": 226,
+      "image_name": "000226.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000226.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647547102808941,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0021407089971905435
+    },
+    {
+      "frame_id": 227,
+      "image_name": "000227.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000227.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0664485255671043,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002355976645350394
+    },
+    {
+      "frame_id": 228,
+      "image_name": "000228.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000228.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639850175206097,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00299948013423304
+    },
+    {
+      "frame_id": 229,
+      "image_name": "000229.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000229.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639448876812046,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028932873104960954
+    },
+    {
+      "frame_id": 230,
+      "image_name": "000230.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000230.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06634474130575817,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0031058909605232166
+    },
+    {
+      "frame_id": 231,
+      "image_name": "000231.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000231.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639671522213748,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002824888927289132
+    },
+    {
+      "frame_id": 232,
+      "image_name": "000232.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000232.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06641468915417151,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028440040446290338
+    },
+    {
+      "frame_id": 233,
+      "image_name": "000233.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000233.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.066458434394702,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002689834113446532
+    },
+    {
+      "frame_id": 234,
+      "image_name": "000234.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000234.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06645308192801952,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027591889479016696
+    },
+    {
+      "frame_id": 235,
+      "image_name": "000235.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000235.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06642744017489932,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0028040299941075597
+    },
+    {
+      "frame_id": 236,
+      "image_name": "000236.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000236.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06644097864703552,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003061797253005788
+    },
+    {
+      "frame_id": 237,
+      "image_name": "000237.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000237.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06640905681991792,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0030083204218416537
+    },
+    {
+      "frame_id": 238,
+      "image_name": "000238.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000238.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633898061409292,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002687119653115716
+    },
+    {
+      "frame_id": 239,
+      "image_name": "000239.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000239.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06639989493896944,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024374345986970247
+    },
+    {
+      "frame_id": 240,
+      "image_name": "000240.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000240.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06649632981803015,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0027850306658624424
+    },
+    {
+      "frame_id": 241,
+      "image_name": "000241.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000241.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06652987395724802,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0029806940256399683
+    },
+    {
+      "frame_id": 242,
+      "image_name": "000242.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000242.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.0665140229629606,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.003092753183408181
+    },
+    {
+      "frame_id": 243,
+      "image_name": "000243.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000243.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06648019679075914,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.00230228118994813
+    },
+    {
+      "frame_id": 244,
+      "image_name": "000244.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000244.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06654631831483326,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0024316864326676124
+    },
+    {
+      "frame_id": 245,
+      "image_name": "000245.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000245.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06650703924929828,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0022667638274974644
+    },
+    {
+      "frame_id": 246,
+      "image_name": "000246.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000246.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06647967888825713,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002146281632303293
+    },
+    {
+      "frame_id": 247,
+      "image_name": "000247.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000247.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06654311954642787,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.002126291183924295
+    },
+    {
+      "frame_id": 248,
+      "image_name": "000248.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000248.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06649734802463142,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0018834073977052612
+    },
+    {
+      "frame_id": 249,
+      "image_name": "000249.png",
+      "depth_path": "/workspace/data/0009_/depth_maps/depth_000249.png",
+      "correspondences": 20000,
+      "raw_median_scale": 0.06633239099128387,
+      "accepted": true,
+      "median_absolute_depth_error_m": 0.0016440840819935687
+    }
+  ]
+}

0009_/reconstruction/metric_alignment/rotation.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:690cb65306536c48955ec3fa4a50f7c9acd6a53c173b07344729471f4188f443
+size 200

0009_/reconstruction/metric_alignment/scale.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3fe58fd621934581ab72ba1af2f486bc82628a9c3d53eae71e3c0a06479b7cb
+size 136

0009_/reconstruction/metric_alignment/translation.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0237082f316c456f6dfc5bfd9f16db975dd4a0020cf5ba83f3d4d7820f60efe8
+size 152

0009_/reconstruction/mvs_filtered_metric.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7a46c1c6ff855485bd68d38b65da79636be2c25c5e1630b0f482ef4e0b901d
+size 1535320

0009_/sam6d_scene/annotation_overlays.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7d18ddca9560b82b3a8ace9d1a14e966b944440f72a9b07cc0c23570611964
+size 3898863

0009_/sam6d_scene/annotations.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbe31e2c5c3b2f034ca00155b5b1995f4843d69bc3b364339db84683528c554
+size 16129113