Gemessene Daten

This commit is contained in:
ChK
2026-06-10 14:04:19 +02:00
parent 20049bdcf2
commit 814e1cd90c
15 changed files with 10741 additions and 0 deletions

Binary file not shown.

After

Width:  |  Height:  |  Size: 70 KiB

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,775 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-10T12:02:51Z",
"source": {
"detection_json": "/app/data/board/20260610_120248/cam0_aruco_detection.json",
"robot_json": "/app/scripts/robot_1781069752019.json"
},
"camera": {
"camera_id": "cam0",
"camera_matrix": [
[
1424.7584228515625,
0.0,
635.95947265625
],
[
0.0,
1421.5770263671875,
482.1744384765625
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.05634751915931702,
0.33765655755996704,
0.002130246954038739,
-0.004022662527859211,
-1.182201862335205
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 41,
"used_marker_ids": [
69,
64,
66,
58,
95,
97,
54,
103,
55,
51,
47,
85,
57,
79,
96,
105,
62,
59,
77,
102,
74,
92,
52,
81,
101,
83,
56,
82,
73,
72,
53,
84,
46,
86,
50,
76,
67,
98,
70,
90,
91
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.011785664628320952,
0.0008659691058571075,
0.000458810901419449,
0.000458803718240118
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.9385435370489509,
"residual_median_px": 0.5405344605085041,
"residual_max_px": 2.9731447743280883,
"sigma2_normalized": 2.2711934017585248e-07
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.868840754032135,
-0.47710981965065,
0.13221943378448486
],
[
-0.22466658055782318,
-0.6179296374320984,
-0.7534506320953369
],
[
0.4411810040473938,
0.6249233484268188,
-0.6440730690956116
]
],
"translation_m": [
-0.3045285642147064,
-0.05258737504482269,
0.859828531742096
],
"rvec_rad": [
2.2490920408293182,
-0.5041324197439587,
0.4119114813303856
]
},
"camera_in_world": {
"position_m": [
-0.1265678107738495,
-0.7151157855987549,
0.5544350147247314
],
"position_mm": [
-126.56781005859375,
-715.1157836914062,
554.4349975585938
],
"orientation_deg": {
"roll": 135.8645477294922,
"pitch": -26.179256439208984,
"yaw": -14.498087882995605
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.7175654885914824e-07,
-2.2769270370845646e-08,
-2.7776277837868053e-08,
-4.849060000520722e-10,
1.3088048131554088e-08,
7.153500594799495e-08
],
[
-2.2769270370845434e-08,
1.0739263792835327e-07,
3.334611436293922e-08,
-1.991224382855702e-09,
-2.9484242340164447e-08,
-1.6891655685214707e-08
],
[
-2.777627783786764e-08,
3.3346114362939234e-08,
3.681893624467165e-07,
3.7809243404411764e-08,
-4.5278655917284434e-08,
-9.881557745810519e-08
],
[
-4.849060000520185e-10,
-1.991224382855701e-09,
3.78092434044117e-08,
9.497658096955721e-09,
-3.2899146586772964e-09,
-9.450981488678889e-09
],
[
1.3088048131554004e-08,
-2.9484242340164434e-08,
-4.527865591728444e-08,
-3.2899146586773063e-09,
1.7240452967726238e-08,
1.4161996767404672e-08
],
[
7.153500594799484e-08,
-1.6891655685214727e-08,
-9.881557745810536e-08,
-9.450981488678932e-09,
1.4161996767404707e-08,
1.2394131713934274e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.02374538879974203,
0.018776294462318977,
0.03476628218614778
],
"tvec_std_m": [
9.745592899847459e-05,
0.00013130290540474052,
0.0003520530033096476
]
},
"camera_center_std_m": [
0.00040728126764774913,
0.0003224678471473466,
0.0004747664452323261
],
"camera_center_std_mm": [
0.40728126764774913,
0.32246784714734655,
0.4747664452323261
],
"orientation_std_deg": {
"roll": 0.02693916843015458,
"pitch": 0.025019912891867082,
"yaw": 0.02042057112280519
}
}
},
"observations": {
"markers": [
{
"marker_id": 69,
"observed_center_px": [
294.75,
767.75
],
"projected_center_px": [
293.7527160644531,
767.7146606445312
],
"reprojection_error_px": 0.997909874760647,
"confidence": 0.7866459531850403
},
{
"marker_id": 64,
"observed_center_px": [
181.25,
650.5
],
"projected_center_px": [
180.25,
653.2999267578125
],
"reprojection_error_px": 2.9731447743280883,
"confidence": 0.6693706562489438
},
{
"marker_id": 66,
"observed_center_px": [
726.0,
762.25
],
"projected_center_px": [
726.9111938476562,
761.2313842773438
],
"reprojection_error_px": 1.366693900787267,
"confidence": 0.9479610175985868
},
{
"marker_id": 58,
"observed_center_px": [
334.5,
654.0
],
"projected_center_px": [
333.9712219238281,
653.8878784179688
],
"reprojection_error_px": 0.5405344605085041,
"confidence": 0.7361607119224782
},
{
"marker_id": 95,
"observed_center_px": [
607.0,
656.25
],
"projected_center_px": [
607.3807373046875,
654.8073120117188
],
"reprojection_error_px": 1.4920822788009052,
"confidence": 0.8378329087517916
},
{
"marker_id": 97,
"observed_center_px": [
867.25,
703.0
],
"projected_center_px": [
867.9035034179688,
703.097900390625
],
"reprojection_error_px": 0.6607958866256405,
"confidence": 0.8148197101167184
},
{
"marker_id": 54,
"observed_center_px": [
891.25,
647.5
],
"projected_center_px": [
891.05224609375,
647.6394653320312
],
"reprojection_error_px": 0.24198592164776983,
"confidence": 0.7370027456477533
},
{
"marker_id": 103,
"observed_center_px": [
411.0,
589.75
],
"projected_center_px": [
411.167724609375,
588.765625
],
"reprojection_error_px": 0.9985618084099733,
"confidence": 0.6416485076707221
},
{
"marker_id": 55,
"observed_center_px": [
744.0,
595.0
],
"projected_center_px": [
744.091064453125,
594.9982299804688
],
"reprojection_error_px": 0.09108165343303957,
"confidence": 0.6981107010486919
},
{
"marker_id": 51,
"observed_center_px": [
500.0,
544.75
],
"projected_center_px": [
500.20147705078125,
543.9871215820312
],
"reprojection_error_px": 0.7890351592888705,
"confidence": 0.5934682424610157
},
{
"marker_id": 47,
"observed_center_px": [
849.75,
596.0
],
"projected_center_px": [
849.928466796875,
595.5831909179688
],
"reprojection_error_px": 0.45340953722937477,
"confidence": 0.6822027249552105
},
{
"marker_id": 85,
"observed_center_px": [
1077.75,
558.25
],
"projected_center_px": [
1077.971923828125,
558.1199951171875
],
"reprojection_error_px": 0.2571992516411088,
"confidence": 0.5020252685486074
},
{
"marker_id": 57,
"observed_center_px": [
1248.5,
572.25
],
"projected_center_px": [
1247.4278564453125,
572.9871826171875
],
"reprojection_error_px": 1.3011264400285472,
"confidence": 0.03964945203799143
},
{
"marker_id": 79,
"observed_center_px": [
696.75,
476.5
],
"projected_center_px": [
696.7872314453125,
476.18524169921875
],
"reprojection_error_px": 0.31695262805466295,
"confidence": 0.5150320434349022
},
{
"marker_id": 96,
"observed_center_px": [
792.75,
482.75
],
"projected_center_px": [
793.3117065429688,
482.433837890625
],
"reprojection_error_px": 0.6445717336482835,
"confidence": 0.533326331985964
},
{
"marker_id": 105,
"observed_center_px": [
1052.5,
504.25
],
"projected_center_px": [
1052.7557373046875,
504.5330505371094
],
"reprojection_error_px": 0.3814697570800769,
"confidence": 0.39407316840091894
},
{
"marker_id": 62,
"observed_center_px": [
827.5,
460.0
],
"projected_center_px": [
827.0533447265625,
460.0904541015625
],
"reprojection_error_px": 0.4557223691887496,
"confidence": 0.4934901321359061
},
{
"marker_id": 59,
"observed_center_px": [
1176.75,
481.5
],
"projected_center_px": [
1176.293701171875,
481.9327087402344
],
"reprojection_error_px": 0.6288445550559122,
"confidence": 0.38069795915032156
},
{
"marker_id": 77,
"observed_center_px": [
82.5,
258.25
],
"projected_center_px": [
82.41415405273438,
260.7313232421875
],
"reprojection_error_px": 2.4828077974103873,
"confidence": 0.22735083694629635
},
{
"marker_id": 102,
"observed_center_px": [
1143.5,
426.25
],
"projected_center_px": [
1143.1990966796875,
426.41204833984375
],
"reprojection_error_px": 0.3417637672738327,
"confidence": 0.334128527883467
},
{
"marker_id": 74,
"observed_center_px": [
213.25,
279.75
],
"projected_center_px": [
213.7755584716797,
279.8918151855469
],
"reprojection_error_px": 0.5443558156261247,
"confidence": 0.21988839370980648
},
{
"marker_id": 92,
"observed_center_px": [
1102.0,
396.75
],
"projected_center_px": [
1101.632568359375,
396.7992858886719
],
"reprojection_error_px": 0.3707224155005408,
"confidence": 0.3382734262024129
},
{
"marker_id": 52,
"observed_center_px": [
188.0,
232.75
],
"projected_center_px": [
188.2330322265625,
232.81349182128906
],
"reprojection_error_px": 0.2415268721846051,
"confidence": 0.20362612130640265
},
{
"marker_id": 81,
"observed_center_px": [
257.0,
254.0
],
"projected_center_px": [
257.267578125,
253.64199829101562
],
"reprojection_error_px": 0.4469488523469422,
"confidence": 0.23597595805437407
},
{
"marker_id": 101,
"observed_center_px": [
184.0,
169.75
],
"projected_center_px": [
184.4817657470703,
168.95640563964844
],
"reprojection_error_px": 0.9283804413235028,
"confidence": 0.17074436943547597
},
{
"marker_id": 83,
"observed_center_px": [
72.0,
155.5
],
"projected_center_px": [
70.45494842529297,
154.61476135253906
],
"reprojection_error_px": 1.78068296770176,
"confidence": 0.15244645323307077
},
{
"marker_id": 56,
"observed_center_px": [
689.5,
187.75
],
"projected_center_px": [
688.7070922851562,
188.32925415039062
],
"reprojection_error_px": 0.9819562184759065,
"confidence": 0.18448953242561952
},
{
"marker_id": 82,
"observed_center_px": [
313.25,
155.0
],
"projected_center_px": [
313.7337341308594,
154.89724731445312
],
"reprojection_error_px": 0.4945268685778053,
"confidence": 0.1440436109843044
},
{
"marker_id": 73,
"observed_center_px": [
301.25,
134.0
],
"projected_center_px": [
301.6894836425781,
133.56317138671875
],
"reprojection_error_px": 0.6196491825823358,
"confidence": 0.1442587474618905
},
{
"marker_id": 72,
"observed_center_px": [
614.0,
181.25
],
"projected_center_px": [
614.5244140625,
182.4296875
],
"reprojection_error_px": 1.2909967879913582,
"confidence": 0.18541158496957547
},
{
"marker_id": 53,
"observed_center_px": [
650.75,
164.75
],
"projected_center_px": [
650.923583984375,
165.3136444091797
],
"reprojection_error_px": 0.5897681066580485,
"confidence": 0.17024100775851728
},
{
"marker_id": 84,
"observed_center_px": [
544.25,
150.5
],
"projected_center_px": [
544.8168334960938,
150.71702575683594
],
"reprojection_error_px": 0.6069599586661997,
"confidence": 0.1411898566746806
},
{
"marker_id": 46,
"observed_center_px": [
716.5,
173.0
],
"projected_center_px": [
716.5786743164062,
172.87643432617188
],
"reprojection_error_px": 0.14648591676536457,
"confidence": 0.18724853272025804
},
{
"marker_id": 86,
"observed_center_px": [
480.0,
138.0
],
"projected_center_px": [
480.4365234375,
138.1004180908203
],
"reprojection_error_px": 0.4479246638116871,
"confidence": 0.16141583086733932
},
{
"marker_id": 50,
"observed_center_px": [
735.75,
153.0
],
"projected_center_px": [
736.2880859375,
153.03378295898438
],
"reprojection_error_px": 0.5391454019585012,
"confidence": 0.1852824222626022
},
{
"marker_id": 76,
"observed_center_px": [
867.0,
161.75
],
"projected_center_px": [
866.71875,
161.26486206054688
],
"reprojection_error_px": 0.5607676727458744,
"confidence": 0.14935538911463375
},
{
"marker_id": 67,
"observed_center_px": [
657.0,
130.75
],
"projected_center_px": [
656.8185424804688,
130.52462768554688
],
"reprojection_error_px": 0.28934324169814685,
"confidence": 0.1305593993274603
},
{
"marker_id": 98,
"observed_center_px": [
680.0,
100.25
],
"projected_center_px": [
680.0936889648438,
99.85391998291016
],
"reprojection_error_px": 0.40700983043580696,
"confidence": 0.11885588518506524
},
{
"marker_id": 70,
"observed_center_px": [
712.5,
104.25
],
"projected_center_px": [
712.3978271484375,
103.98674774169922
],
"reprojection_error_px": 0.2823845659678905,
"confidence": 0.11669864117968197
},
{
"marker_id": 90,
"observed_center_px": [
740.0,
91.75
],
"projected_center_px": [
740.48583984375,
91.5243148803711
],
"reprojection_error_px": 0.5356996611880002,
"confidence": 0.11238354246712544
},
{
"marker_id": 91,
"observed_center_px": [
803.0,
77.75
],
"projected_center_px": [
802.8135375976562,
77.46407318115234
],
"reprojection_error_px": 0.34135373620943854,
"confidence": 0.11971137454305131
}
]
},
"qa": {
"sanity_notes": []
}
}

Binary file not shown.

After

Width:  |  Height:  |  Size: 202 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 62 KiB

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,467 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-10T12:02:56Z",
"source": {
"detection_json": "/app/data/board/20260610_120248/cam1_aruco_detection.json",
"robot_json": "/app/scripts/robot_1781069752019.json"
},
"camera": {
"camera_id": "cam1",
"camera_matrix": [
[
1367.5723876953125,
0.0,
672.1165771484375
],
[
0.0,
1372.3011474609375,
445.8396911621094
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.01016925647854805,
0.7656787633895874,
-0.0031530377455055714,
-0.00288817984983325,
-2.490830183029175
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 19,
"used_marker_ids": [
54,
97,
47,
66,
62,
55,
96,
95,
79,
69,
51,
58,
103,
64,
81,
74,
52,
77,
75
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.005908492617084079,
0.000531955389358334,
0.0004973054167271152,
0.0004973053257081608
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.9767691765851207,
"residual_median_px": 0.7820052531539182,
"residual_max_px": 2.6960619292292325,
"sigma2_normalized": 2.9368369703581645e-07
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.9621239304542542,
0.05326477065682411,
0.26735827326774597
],
[
0.14050082862377167,
0.9373264908790588,
0.3188707232475281
],
[
-0.2336174100637436,
0.3443572223186493,
-0.9093080163002014
]
],
"translation_m": [
0.08620023727416992,
0.1742357462644577,
1.0531834363937378
],
"rvec_rad": [
0.14437260525474524,
2.8378638193547685,
0.4941638197103588
]
},
"camera_in_world": {
"position_m": [
0.30449703335762024,
-0.5305785536766052,
0.8790631294250488
],
"position_mm": [
304.4970397949219,
-530.5785522460938,
879.0631103515625
],
"orientation_deg": {
"roll": 159.25819396972656,
"pitch": 13.510137557983398,
"yaw": 171.6916961669922
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
8.449666319585472e-07,
-6.740020733074256e-07,
-1.4058060095944764e-06,
4.5208973261461144e-08,
-1.1921674358395356e-07,
1.893984228476158e-07
],
[
-6.740020733073051e-07,
8.928537842796082e-06,
3.391178961266702e-06,
2.5704379788246923e-08,
3.8400178926795673e-07,
-3.595001621545094e-07
],
[
-1.405806009594519e-06,
3.391178961267287e-06,
8.757846717357817e-06,
8.787647167146225e-08,
1.666518421622728e-07,
-1.1524785038887159e-06
],
[
4.5208973261459694e-08,
2.5704379788252783e-08,
8.787647167146857e-08,
2.703339195174334e-08,
-8.23996142208714e-09,
-5.4090863884874565e-08
],
[
-1.1921674358394824e-07,
3.8400178926796197e-07,
1.6665184216224414e-07,
-8.239961422087447e-09,
4.3931645936511716e-08,
-9.843879266637308e-09
],
[
1.8939842284762305e-07,
-3.5950016215458893e-07,
-1.152478503888724e-06,
-5.4090863884873566e-08,
-9.84387926664108e-09,
4.801368396660864e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.05266746457673423,
0.17120356516921936,
0.16955917791783418
],
"tvec_std_m": [
0.0001644183443285552,
0.00020959877369992343,
0.0006929190715127462
]
},
"camera_center_std_m": [
0.003061099015936063,
0.0015655578523650947,
0.001430951041451357
],
"camera_center_std_mm": [
3.061099015936063,
1.5655578523650948,
1.430951041451357
],
"orientation_std_deg": {
"roll": 0.13546902152897963,
"pitch": 0.17960938355955527,
"yaw": 0.06921715361963306
}
}
},
"observations": {
"markers": [
{
"marker_id": 54,
"observed_center_px": [
254.0,
295.25
],
"projected_center_px": [
253.46893310546875,
294.6708984375
],
"reprojection_error_px": 0.7857421117370553,
"confidence": 0.8975220965585672
},
{
"marker_id": 97,
"observed_center_px": [
308.5,
244.25
],
"projected_center_px": [
307.9642333984375,
243.66114807128906
],
"reprojection_error_px": 0.7961108247577228,
"confidence": 0.9455783951112204
},
{
"marker_id": 47,
"observed_center_px": [
262.0,
362.0
],
"projected_center_px": [
261.61322021484375,
361.3203430175781
],
"reprojection_error_px": 0.7820052531539182,
"confidence": 0.8156639944765781
},
{
"marker_id": 66,
"observed_center_px": [
456.25,
223.75
],
"projected_center_px": [
455.822265625,
223.88134765625
],
"reprojection_error_px": 0.44744709448046344,
"confidence": 0.8700614136232684
},
{
"marker_id": 62,
"observed_center_px": [
192.25,
533.25
],
"projected_center_px": [
193.19772338867188,
532.77197265625
],
"reprojection_error_px": 1.0614564347199478,
"confidence": 0.7086317255276053
},
{
"marker_id": 55,
"observed_center_px": [
362.0,
384.75
],
"projected_center_px": [
361.8635559082031,
384.7062683105469
],
"reprojection_error_px": 0.14328102054598374,
"confidence": 0.7970975560738816
},
{
"marker_id": 96,
"observed_center_px": [
245.75,
509.5
],
"projected_center_px": [
245.64976501464844,
509.0459899902344
],
"reprojection_error_px": 0.46494315916659196,
"confidence": 0.7348440345503332
},
{
"marker_id": 95,
"observed_center_px": [
505.0,
350.0
],
"projected_center_px": [
504.9391174316406,
350.3973388671875
],
"reprojection_error_px": 0.4019761964443663,
"confidence": 0.7764084964163676
},
{
"marker_id": 79,
"observed_center_px": [
339.0,
533.25
],
"projected_center_px": [
339.4649353027344,
532.9585571289062
],
"reprojection_error_px": 0.5487292436530726,
"confidence": 0.7021817921589917
},
{
"marker_id": 69,
"observed_center_px": [
751.0,
309.5
],
"projected_center_px": [
751.142822265625,
309.8138427734375
],
"reprojection_error_px": 0.34481224745823635,
"confidence": 0.6644782594891557
},
{
"marker_id": 51,
"observed_center_px": [
544.0,
484.0
],
"projected_center_px": [
543.974365234375,
484.78131103515625
],
"reprojection_error_px": 0.781731459559854,
"confidence": 0.6457275915408058
},
{
"marker_id": 58,
"observed_center_px": [
698.0,
401.0
],
"projected_center_px": [
698.4539794921875,
401.70245361328125
],
"reprojection_error_px": 0.836384157034735,
"confidence": 0.6840192488901559
},
{
"marker_id": 103,
"observed_center_px": [
626.25,
451.0
],
"projected_center_px": [
626.7295532226562,
451.99505615234375
],
"reprojection_error_px": 1.1045850078998642,
"confidence": 0.6288103754513884
},
{
"marker_id": 64,
"observed_center_px": [
792.75,
427.0
],
"projected_center_px": [
792.0496826171875,
427.088623046875
],
"reprojection_error_px": 0.7059026002974901,
"confidence": 0.5873044669377057
},
{
"marker_id": 81,
"observed_center_px": [
622.5,
871.75
],
"projected_center_px": [
622.9915161132812,
872.4616088867188
],
"reprojection_error_px": 0.8648556511188473,
"confidence": 0.3893733786671347
},
{
"marker_id": 74,
"observed_center_px": [
666.75,
835.5
],
"projected_center_px": [
667.296630859375,
836.3943481445312
],
"reprojection_error_px": 1.048171693973626,
"confidence": 0.40638013219065744
},
{
"marker_id": 52,
"observed_center_px": [
669.5,
902.25
],
"projected_center_px": [
670.3670654296875,
903.2512817382812
],
"reprojection_error_px": 1.3245254164321236,
"confidence": 0.3227551657879029
},
{
"marker_id": 77,
"observed_center_px": [
758.0,
866.0
],
"projected_center_px": [
757.9642333984375,
865.531494140625
],
"reprojection_error_px": 0.4698691201345731,
"confidence": 0.3598312773373838
},
{
"marker_id": 75,
"observed_center_px": [
809.0,
859.75
],
"projected_center_px": [
807.6593627929688,
857.410888671875
],
"reprojection_error_px": 2.6960619292292325,
"confidence": 0.3547220797744106
}
]
},
"qa": {
"sanity_notes": []
}
}

Binary file not shown.

After

Width:  |  Height:  |  Size: 148 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 225 KiB

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,943 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-10T12:02:59Z",
"source": {
"detection_json": "/app/data/board/20260610_120248/cam2_aruco_detection.json",
"robot_json": "/app/scripts/robot_1781069752019.json"
},
"camera": {
"camera_id": "cam2",
"camera_matrix": [
[
1388.99072265625,
0.0,
933.082763671875
],
[
0.0,
1394.8729248046875,
562.4996948242188
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019531700760126114,
-0.11213663965463638,
0.0026758278254419565,
0.0007694826927036047,
0.05339815095067024
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 53,
"used_marker_ids": [
69,
64,
75,
58,
61,
77,
103,
83,
74,
52,
51,
66,
81,
95,
101,
97,
55,
82,
73,
79,
54,
47,
96,
86,
62,
84,
85,
72,
60,
105,
56,
53,
57,
46,
67,
68,
59,
50,
98,
102,
92,
70,
48,
90,
71,
76,
63,
78,
91,
65,
88,
100,
80
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.0098089322891034,
0.0006224348764887226,
0.000457076417739124,
0.0004570757760240011
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.8963221374429711,
"residual_median_px": 0.5257092931121689,
"residual_max_px": 3.553884504083572,
"sigma2_normalized": 2.2145336092961196e-07
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.1273214966058731,
-0.9917626976966858,
-0.014000757597386837
],
[
-0.8507838845252991,
-0.10194499045610428,
-0.5155327320098877
],
[
0.5098587870597839,
0.0775500163435936,
-0.8567554950714111
]
],
"translation_m": [
-0.14239628612995148,
0.19550246000289917,
0.8796834945678711
],
"rvec_rad": [
2.01293100424637,
-1.7779865847805791,
0.4784839291428882
]
},
"camera_in_world": {
"position_m": [
-0.26405394077301025,
-0.18951229751110077,
0.852467954158783
],
"position_mm": [
-264.053955078125,
-189.51229858398438,
852.4679565429688
],
"orientation_deg": {
"roll": 174.82789611816406,
"pitch": -30.654422760009766,
"yaw": -81.48873138427734
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.1737714385940798e-07,
-1.069796204120656e-07,
-1.822709612812337e-08,
4.4465269392839054e-10,
4.038992001065628e-08,
1.0315153750613931e-07
],
[
-1.0697962041206613e-07,
1.6365602287708485e-07,
-3.331609245296352e-08,
-3.195375683213487e-08,
-3.155241423579363e-08,
-7.068195561725462e-08
],
[
-1.822709612812201e-08,
-3.33160924529644e-08,
4.961985170831612e-07,
7.183768454838181e-08,
-4.36553495187879e-08,
-9.81357996061553e-08
],
[
4.4465269392866423e-10,
-3.195375683213502e-08,
7.183768454838173e-08,
2.1881588403255675e-08,
-1.9196086643004987e-09,
-1.0576174222208573e-08
],
[
4.038992001065623e-08,
-3.1552414235793495e-08,
-4.365534951878817e-08,
-1.9196086643005538e-09,
1.8021042627291756e-08,
2.755332307456946e-08
],
[
1.031515375061392e-07,
-7.068195561725413e-08,
-9.813579960615683e-08,
-1.0576174222208857e-08,
2.7553323074569514e-08,
1.2129447832642325e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.02671342486857649,
0.023178676215835997,
0.04035992619848322
],
"tvec_std_m": [
0.0001479242657688578,
0.00013424247698583244,
0.0003482735682282295
]
},
"camera_center_std_m": [
0.00041665557631308004,
0.0006146552677079256,
0.00047719313400760167
],
"camera_center_std_mm": [
0.41665557631308003,
0.6146552677079256,
0.47719313400760166
],
"orientation_std_deg": {
"roll": 0.04044823865900689,
"pitch": 0.02888115814685653,
"yaw": 0.017334875097617372
}
}
},
"observations": {
"markers": [
{
"marker_id": 69,
"observed_center_px": [
1151.25,
929.0
],
"projected_center_px": [
1150.04443359375,
929.0095825195312
],
"reprojection_error_px": 1.2056044892746156,
"confidence": 0.8986846169324365
},
{
"marker_id": 64,
"observed_center_px": [
1001.5,
955.0
],
"projected_center_px": [
999.7368774414062,
956.1192626953125
],
"reprojection_error_px": 2.0883845761114914,
"confidence": 0.8975282492831451
},
{
"marker_id": 75,
"observed_center_px": [
412.75,
887.25
],
"projected_center_px": [
413.832763671875,
889.554931640625
],
"reprojection_error_px": 2.546583404698634,
"confidence": 0.8508150578764381
},
{
"marker_id": 58,
"observed_center_px": [
1057.25,
852.75
],
"projected_center_px": [
1056.2906494140625,
852.7211303710938
],
"reprojection_error_px": 0.9597848728813188,
"confidence": 0.7784578751540552
},
{
"marker_id": 61,
"observed_center_px": [
209.5,
856.0
],
"projected_center_px": [
212.21087646484375,
858.298095703125
],
"reprojection_error_px": 3.553884504083572,
"confidence": 0.7468085604786412
},
{
"marker_id": 77,
"observed_center_px": [
438.75,
825.5
],
"projected_center_px": [
438.9163818359375,
825.9654541015625
],
"reprojection_error_px": 0.4942979223012041,
"confidence": 0.754806572372849
},
{
"marker_id": 103,
"observed_center_px": [
1018.75,
768.5
],
"projected_center_px": [
1018.128662109375,
768.266845703125
],
"reprojection_error_px": 0.6636427506404331,
"confidence": 0.7230103467414268
},
{
"marker_id": 83,
"observed_center_px": [
245.0,
764.75
],
"projected_center_px": [
244.66259765625,
764.5181274414062
],
"reprojection_error_px": 0.409396171204379,
"confidence": 0.6963240125272631
},
{
"marker_id": 74,
"observed_center_px": [
538.75,
730.0
],
"projected_center_px": [
538.0648803710938,
729.8526000976562
],
"reprojection_error_px": 0.7007964305870747,
"confidence": 0.718536832410984
},
{
"marker_id": 52,
"observed_center_px": [
449.75,
718.75
],
"projected_center_px": [
449.18414306640625,
718.4673461914062
],
"reprojection_error_px": 0.6325245013504803,
"confidence": 0.6862906674889425
},
{
"marker_id": 51,
"observed_center_px": [
1004.5,
683.75
],
"projected_center_px": [
1004.3736572265625,
683.275634765625
],
"reprojection_error_px": 0.4909021002028084,
"confidence": 0.6559297452800281
},
{
"marker_id": 66,
"observed_center_px": [
1279.25,
660.5
],
"projected_center_px": [
1280.195556640625,
659.7265014648438
],
"reprojection_error_px": 1.2216289717090456,
"confidence": 0.6286034074431499
},
{
"marker_id": 81,
"observed_center_px": [
519.5,
676.75
],
"projected_center_px": [
519.2908325195312,
676.2986450195312
],
"reprojection_error_px": 0.49746593177783605,
"confidence": 0.6605213883217984
},
{
"marker_id": 95,
"observed_center_px": [
1151.25,
676.25
],
"projected_center_px": [
1151.655029296875,
675.9148559570312
],
"reprojection_error_px": 0.5257092931121689,
"confidence": 0.6024124231445473
},
{
"marker_id": 101,
"observed_center_px": [
337.75,
675.75
],
"projected_center_px": [
337.35394287109375,
674.9082641601562
],
"reprojection_error_px": 0.930258283185334,
"confidence": 0.6318515532199671
},
{
"marker_id": 97,
"observed_center_px": [
1274.5,
545.75
],
"projected_center_px": [
1275.181640625,
545.5237426757812
],
"reprojection_error_px": 0.7182104972868464,
"confidence": 0.4914032409654731
},
{
"marker_id": 55,
"observed_center_px": [
1141.75,
556.0
],
"projected_center_px": [
1142.1490478515625,
555.7384033203125
],
"reprojection_error_px": 0.477149882804315,
"confidence": 0.4797015404485084
},
{
"marker_id": 82,
"observed_center_px": [
386.25,
554.0
],
"projected_center_px": [
386.0714111328125,
553.4258422851562
],
"reprojection_error_px": 0.6012911649092405,
"confidence": 0.5267498880467387
},
{
"marker_id": 73,
"observed_center_px": [
341.5,
546.5
],
"projected_center_px": [
341.5302734375,
545.7492065429688
],
"reprojection_error_px": 0.7514035507894555,
"confidence": 0.5807180386419054
},
{
"marker_id": 79,
"observed_center_px": [
1006.5,
510.0
],
"projected_center_px": [
1006.5682373046875,
509.50689697265625
],
"reprojection_error_px": 0.4978020945381666,
"confidence": 0.49192740123277356
},
{
"marker_id": 54,
"observed_center_px": [
1235.75,
499.0
],
"projected_center_px": [
1236.3170166015625,
499.0939636230469
],
"reprojection_error_px": 0.5747495010033346,
"confidence": 0.4754775900608054
},
{
"marker_id": 47,
"observed_center_px": [
1177.5,
491.5
],
"projected_center_px": [
1177.807861328125,
491.1806640625
],
"reprojection_error_px": 0.4435696544330922,
"confidence": 0.4506500428288729
},
{
"marker_id": 96,
"observed_center_px": [
1049.0,
451.75
],
"projected_center_px": [
1049.171875,
451.17999267578125
],
"reprojection_error_px": 0.5953565026839123,
"confidence": 0.430100956852032
},
{
"marker_id": 86,
"observed_center_px": [
451.25,
401.0
],
"projected_center_px": [
451.4646911621094,
401.15252685546875
],
"reprojection_error_px": 0.2633566720762147,
"confidence": 0.4069382463284863
},
{
"marker_id": 62,
"observed_center_px": [
1038.5,
414.5
],
"projected_center_px": [
1038.5054931640625,
413.8045959472656
],
"reprojection_error_px": 0.6954257483087687,
"confidence": 0.38988116027442876
},
{
"marker_id": 84,
"observed_center_px": [
507.75,
361.5
],
"projected_center_px": [
507.8834228515625,
361.3968505859375
],
"reprojection_error_px": 0.16864595737967153,
"confidence": 0.3755778878035692
},
{
"marker_id": 85,
"observed_center_px": [
1217.0,
332.75
],
"projected_center_px": [
1217.3709716796875,
332.08306884765625
],
"reprojection_error_px": 0.7631625967621365,
"confidence": 0.3292690975651811
},
{
"marker_id": 72,
"observed_center_px": [
594.75,
336.5
],
"projected_center_px": [
594.7498779296875,
336.6177978515625
],
"reprojection_error_px": 0.1177979148113496,
"confidence": 0.34287988681554293
},
{
"marker_id": 60,
"observed_center_px": [
487.75,
333.25
],
"projected_center_px": [
487.4588928222656,
333.3103332519531
],
"reprojection_error_px": 0.29729360944983707,
"confidence": 0.3267497878291175
},
{
"marker_id": 105,
"observed_center_px": [
1161.25,
308.75
],
"projected_center_px": [
1161.2724609375,
308.23345947265625
],
"reprojection_error_px": 0.5170286356691844,
"confidence": 0.29771650671754185
},
{
"marker_id": 56,
"observed_center_px": [
641.75,
286.5
],
"projected_center_px": [
641.61181640625,
286.5906982421875
],
"reprojection_error_px": 0.16529028016664332,
"confidence": 0.3062922750114328
},
{
"marker_id": 53,
"observed_center_px": [
587.75,
293.25
],
"projected_center_px": [
587.6326904296875,
293.2826232910156
],
"reprojection_error_px": 0.12176130092764918,
"confidence": 0.3206812269187209
},
{
"marker_id": 57,
"observed_center_px": [
1280.5,
249.0
],
"projected_center_px": [
1280.7451171875,
248.8118438720703
],
"reprojection_error_px": 0.3090067379288081,
"confidence": 0.26603475252212855
},
{
"marker_id": 46,
"observed_center_px": [
633.0,
251.75
],
"projected_center_px": [
632.98974609375,
251.6079864501953
],
"reprojection_error_px": 0.1423832536554501,
"confidence": 0.29692028276941096
},
{
"marker_id": 67,
"observed_center_px": [
536.75,
255.75
],
"projected_center_px": [
536.5686645507812,
255.48638916015625
],
"reprojection_error_px": 0.3199581535552627,
"confidence": 0.2708691836215508
},
{
"marker_id": 68,
"observed_center_px": [
659.5,
222.0
],
"projected_center_px": [
659.6856689453125,
221.6300048828125
],
"reprojection_error_px": 0.4139678055067181,
"confidence": 0.2838174430075637
},
{
"marker_id": 59,
"observed_center_px": [
1180.5,
220.75
],
"projected_center_px": [
1180.892333984375,
220.45875549316406
],
"reprojection_error_px": 0.4886198093177058,
"confidence": 0.24706037119088006
},
{
"marker_id": 50,
"observed_center_px": [
613.5,
218.25
],
"projected_center_px": [
613.552001953125,
218.05809020996094
],
"reprojection_error_px": 0.19883050732131563,
"confidence": 0.2627310892856904
},
{
"marker_id": 98,
"observed_center_px": [
500.25,
207.75
],
"projected_center_px": [
500.1153259277344,
207.15695190429688
],
"reprojection_error_px": 0.6081473090935368,
"confidence": 0.26379900775702514
},
{
"marker_id": 102,
"observed_center_px": [
1117.75,
195.75
],
"projected_center_px": [
1117.8568115234375,
195.6809539794922
],
"reprojection_error_px": 0.12718511896839535,
"confidence": 0.24378890443824783
},
{
"marker_id": 92,
"observed_center_px": [
1074.0,
196.0
],
"projected_center_px": [
1073.92138671875,
195.88784790039062
],
"reprojection_error_px": 0.13696036446973545,
"confidence": 0.2672564690926056
},
{
"marker_id": 70,
"observed_center_px": [
524.75,
187.0
],
"projected_center_px": [
524.7186889648438,
186.86972045898438
],
"reprojection_error_px": 0.13398932692493773,
"confidence": 0.2507337032372072
},
{
"marker_id": 48,
"observed_center_px": [
1231.25,
172.5
],
"projected_center_px": [
1231.1085205078125,
173.17733764648438
],
"reprojection_error_px": 0.6919557312824463,
"confidence": 0.22414285714285712
},
{
"marker_id": 90,
"observed_center_px": [
520.5,
153.75
],
"projected_center_px": [
520.3079833984375,
152.954345703125
],
"reprojection_error_px": 0.8184962647509533,
"confidence": 0.25163861158949646
},
{
"marker_id": 71,
"observed_center_px": [
1191.75,
122.0
],
"projected_center_px": [
1191.556884765625,
122.36849212646484
],
"reprojection_error_px": 0.41602877426242235,
"confidence": 0.21186399436572845
},
{
"marker_id": 76,
"observed_center_px": [
691.75,
133.75
],
"projected_center_px": [
691.7788696289062,
133.10496520996094
],
"reprojection_error_px": 0.6456805214917994,
"confidence": 0.2037501988754542
},
{
"marker_id": 63,
"observed_center_px": [
1140.5,
97.0
],
"projected_center_px": [
1140.3216552734375,
97.65435791015625
],
"reprojection_error_px": 0.6782264489657623,
"confidence": 0.21661763956520202
},
{
"marker_id": 78,
"observed_center_px": [
1259.0,
72.25
],
"projected_center_px": [
1259.0037841796875,
73.45796203613281
],
"reprojection_error_px": 1.207967963463451,
"confidence": 0.19774914486734868
},
{
"marker_id": 91,
"observed_center_px": [
532.5,
92.0
],
"projected_center_px": [
532.4694213867188,
92.04964447021484
],
"reprojection_error_px": 0.058306303373792674,
"confidence": 0.2384426912219541
},
{
"marker_id": 65,
"observed_center_px": [
1208.0,
83.0
],
"projected_center_px": [
1207.8248291015625,
83.76030731201172
],
"reprojection_error_px": 0.7802256419510231,
"confidence": 0.18582320639236513
},
{
"marker_id": 88,
"observed_center_px": [
557.0,
62.0
],
"projected_center_px": [
557.0651245117188,
62.67496109008789
],
"reprojection_error_px": 0.6780956239050944,
"confidence": 0.1807831326449605
},
{
"marker_id": 100,
"observed_center_px": [
713.0,
47.0
],
"projected_center_px": [
712.95654296875,
47.11394500732422
],
"reprojection_error_px": 0.12195072061771403,
"confidence": 0.1423622809090734
},
{
"marker_id": 80,
"observed_center_px": [
1250.5,
43.0
],
"projected_center_px": [
1250.2398681640625,
44.258975982666016
],
"reprojection_error_px": 1.285569561322169,
"confidence": 0.1156837370676591
}
]
},
"qa": {
"sanity_notes": []
}
}

Binary file not shown.

After

Width:  |  Height:  |  Size: 386 KiB