{
  "reference_scene": "left_gate_new",
  "moved_scene": "right_gate_new",
  "crop_box": {
    "min": [
      -3.0,
      -2.5,
      0.02
    ],
    "max": [
      4.0,
      2.5,
      2.5
    ]
  },
  "transformation": [
    [
      0.9996255607478141,
      0.008054330657959075,
      0.026150832821740452,
      0.06981040434250411
    ],
    [
      -0.008633841733665925,
      0.9997179623816806,
      0.022123572684828046,
      -0.015361735775686246
    ],
    [
      -0.0259652667333953,
      -0.022341070902602712,
      0.99941316855162,
      0.026166982598025707
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "stages": [
    {
      "voxel": 0.1,
      "fitness": 0.7193590298830662,
      "inlier_rmse_m": 0.11533878301020943
    },
    {
      "voxel": 0.05,
      "fitness": 0.5712827393105058,
      "inlier_rmse_m": 0.06198629645844657
    },
    {
      "voxel": 0.02,
      "fitness": 0.41865370971011556,
      "inlier_rmse_m": 0.028546041817277035
    }
  ],
  "yaw_deg": -0.49485568530864527,
  "translation_m": [
    0.06981040434250411,
    -0.015361735775686246,
    0.026166982598025707
  ]
}