649 lines
15 KiB
JSON
649 lines
15 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-16T13:32:03Z",
|
|
"source": {
|
|
"detection_json": "/app/data/homing/20260616_133151/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": 32,
|
|
"used_marker_ids": [
|
|
66,
|
|
56,
|
|
98,
|
|
55,
|
|
70,
|
|
46,
|
|
50,
|
|
68,
|
|
97,
|
|
47,
|
|
90,
|
|
54,
|
|
91,
|
|
76,
|
|
88,
|
|
104,
|
|
100,
|
|
92,
|
|
57,
|
|
59,
|
|
102,
|
|
94,
|
|
93,
|
|
48,
|
|
71,
|
|
49,
|
|
65,
|
|
78,
|
|
80,
|
|
87,
|
|
99,
|
|
89
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.008832538525142795,
|
|
0.0004865578415025546,
|
|
0.00032819879951119047,
|
|
0.0003281981652183564
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.6441756715533189,
|
|
"residual_median_px": 0.5492520408741948,
|
|
"residual_max_px": 1.2897776382850825,
|
|
"sigma2_normalized": 1.1885686692316158e-07
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.4496577978134155,
|
|
-0.8931671977043152,
|
|
-0.007761204615235329
|
|
],
|
|
[
|
|
-0.6304975152015686,
|
|
0.32354968786239624,
|
|
-0.7055412530899048
|
|
],
|
|
[
|
|
0.632677435874939,
|
|
-0.31235870718955994,
|
|
-0.7086263298988342
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.1335494965314865,
|
|
0.5456798076629639,
|
|
0.636671245098114
|
|
],
|
|
"rvec_rad": [
|
|
1.3494279062384578,
|
|
-2.198026754500526,
|
|
0.901499263158594
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.001293778419494629,
|
|
0.14159730076789856,
|
|
0.8371981382369995
|
|
],
|
|
"position_mm": [
|
|
1.293778419494629,
|
|
141.59730529785156,
|
|
837.1981201171875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -156.2123565673828,
|
|
"pitch": -39.2479362487793,
|
|
"yaw": -125.49567413330078
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
1.6015381552721338e-07,
|
|
-1.4837059058697122e-07,
|
|
3.6929360374737507e-09,
|
|
2.2758829309070173e-08,
|
|
8.934552870367817e-08,
|
|
1.0290980538631166e-07
|
|
],
|
|
[
|
|
-1.4837059058697112e-07,
|
|
3.4643173654494003e-07,
|
|
-1.095486801462903e-07,
|
|
-1.2433725931455158e-07,
|
|
-1.1671511572372629e-07,
|
|
-1.8401667376807757e-07
|
|
],
|
|
[
|
|
3.6929360374766454e-09,
|
|
-1.0954868014629436e-07,
|
|
7.273896060861517e-07,
|
|
1.9118374884632683e-07,
|
|
-7.329600774003173e-08,
|
|
1.0168020574304684e-09
|
|
],
|
|
[
|
|
2.2758829309070772e-08,
|
|
-1.2433725931455248e-07,
|
|
1.9118374884632598e-07,
|
|
8.744604871812883e-08,
|
|
9.627191197820863e-09,
|
|
4.401188149744796e-08
|
|
],
|
|
[
|
|
8.934552870367775e-08,
|
|
-1.167151157237258e-07,
|
|
-7.329600774003358e-08,
|
|
9.627191197820361e-09,
|
|
7.355401539411175e-08,
|
|
8.533100927242548e-08
|
|
],
|
|
[
|
|
1.0290980538631145e-07,
|
|
-1.8401667376807733e-07,
|
|
1.016802057427981e-09,
|
|
4.4011881497447365e-08,
|
|
8.533100927242568e-08,
|
|
1.489079976325586e-07
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.02292932538456693,
|
|
0.03372340885164672,
|
|
0.04886593105418293
|
|
],
|
|
"tvec_std_m": [
|
|
0.00029571278078251677,
|
|
0.0002712084353299354,
|
|
0.00038588599045904555
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0005289704989045807,
|
|
0.0008144586400828901,
|
|
0.00045608116615869596
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.5289704989045807,
|
|
0.8144586400828902,
|
|
0.456081166158696
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.041484506477778224,
|
|
"pitch": 0.034509621577427846,
|
|
"yaw": 0.03307538792320922
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
1492.5,
|
|
1050.5
|
|
],
|
|
"projected_center_px": [
|
|
1493.70947265625,
|
|
1050.947998046875
|
|
],
|
|
"reprojection_error_px": 1.2897776382850825,
|
|
"confidence": 0.08283072356273988
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
568.25,
|
|
1026.5
|
|
],
|
|
"projected_center_px": [
|
|
568.1932983398438,
|
|
1027.0657958984375
|
|
],
|
|
"reprojection_error_px": 0.5686300000467551,
|
|
"confidence": 0.4105118828043329
|
|
},
|
|
{
|
|
"marker_id": 98,
|
|
"observed_center_px": [
|
|
321.75,
|
|
1023.5
|
|
],
|
|
"projected_center_px": [
|
|
322.117919921875,
|
|
1023.1886596679688
|
|
],
|
|
"reprojection_error_px": 0.48197289473769694,
|
|
"confidence": 0.4150269083081866
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
1298.25,
|
|
1021.0
|
|
],
|
|
"projected_center_px": [
|
|
1298.544189453125,
|
|
1022.0004272460938
|
|
],
|
|
"reprojection_error_px": 1.042785744559596,
|
|
"confidence": 0.5099828684402014
|
|
},
|
|
{
|
|
"marker_id": 70,
|
|
"observed_center_px": [
|
|
337.25,
|
|
981.0
|
|
],
|
|
"projected_center_px": [
|
|
337.27288818359375,
|
|
981.1621704101562
|
|
],
|
|
"reprojection_error_px": 0.16377762630612144,
|
|
"confidence": 0.5716394535834378
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
528.0,
|
|
990.0
|
|
],
|
|
"projected_center_px": [
|
|
527.9961547851562,
|
|
990.034912109375
|
|
],
|
|
"reprojection_error_px": 0.03512322676245106,
|
|
"confidence": 0.6113473562364914
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
476.25,
|
|
962.0
|
|
],
|
|
"projected_center_px": [
|
|
475.98529052734375,
|
|
961.836181640625
|
|
],
|
|
"reprojection_error_px": 0.3112997908484145,
|
|
"confidence": 0.5940980546668021
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
535.0,
|
|
937.5
|
|
],
|
|
"projected_center_px": [
|
|
534.7505493164062,
|
|
936.9074096679688
|
|
],
|
|
"reprojection_error_px": 0.6429532993634113,
|
|
"confidence": 0.5510898086777466
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
1393.75,
|
|
936.25
|
|
],
|
|
"projected_center_px": [
|
|
1394.135498046875,
|
|
936.5591430664062
|
|
],
|
|
"reprojection_error_px": 0.4941438855753441,
|
|
"confidence": 0.6263523559153361
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
1272.5,
|
|
933.0
|
|
],
|
|
"projected_center_px": [
|
|
1272.794921875,
|
|
933.4520263671875
|
|
],
|
|
"reprojection_error_px": 0.5397284029826892,
|
|
"confidence": 0.6813102053703514
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"observed_center_px": [
|
|
302.75,
|
|
942.0
|
|
],
|
|
"projected_center_px": [
|
|
303.13250732421875,
|
|
941.7984008789062
|
|
],
|
|
"reprojection_error_px": 0.4323818436368026,
|
|
"confidence": 0.4933910249582603
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
1325.5,
|
|
909.75
|
|
],
|
|
"projected_center_px": [
|
|
1325.8062744140625,
|
|
910.0460205078125
|
|
],
|
|
"reprojection_error_px": 0.4259485388575691,
|
|
"confidence": 0.5831923209596213
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
268.75,
|
|
860.0
|
|
],
|
|
"projected_center_px": [
|
|
268.9171447753906,
|
|
859.646240234375
|
|
],
|
|
"reprojection_error_px": 0.39125867110574997,
|
|
"confidence": 0.41635714573983174
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"observed_center_px": [
|
|
500.0,
|
|
814.75
|
|
],
|
|
"projected_center_px": [
|
|
499.7842102050781,
|
|
814.5734252929688
|
|
],
|
|
"reprojection_error_px": 0.27882586457428343,
|
|
"confidence": 0.43164902465575705
|
|
},
|
|
{
|
|
"marker_id": 88,
|
|
"observed_center_px": [
|
|
276.5,
|
|
810.25
|
|
],
|
|
"projected_center_px": [
|
|
277.02392578125,
|
|
809.9246826171875
|
|
],
|
|
"reprojection_error_px": 0.6167087025641826,
|
|
"confidence": 0.3641103423762567
|
|
},
|
|
{
|
|
"marker_id": 104,
|
|
"observed_center_px": [
|
|
365.0,
|
|
716.75
|
|
],
|
|
"projected_center_px": [
|
|
365.2046813964844,
|
|
716.1290893554688
|
|
],
|
|
"reprojection_error_px": 0.6537771046457701,
|
|
"confidence": 0.31456974038753843
|
|
},
|
|
{
|
|
"marker_id": 100,
|
|
"observed_center_px": [
|
|
455.5,
|
|
707.0
|
|
],
|
|
"projected_center_px": [
|
|
455.77587890625,
|
|
706.6298217773438
|
|
],
|
|
"reprojection_error_px": 0.46167205616393603,
|
|
"confidence": 0.2990458462748869
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
944.5,
|
|
685.0
|
|
],
|
|
"projected_center_px": [
|
|
943.9740600585938,
|
|
684.959228515625
|
|
],
|
|
"reprojection_error_px": 0.5275179010275866,
|
|
"confidence": 0.3967703608745553
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
1160.5,
|
|
644.25
|
|
],
|
|
"projected_center_px": [
|
|
1160.0010986328125,
|
|
643.9444580078125
|
|
],
|
|
"reprojection_error_px": 0.5850286173953058,
|
|
"confidence": 0.3932990433348167
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
1057.0,
|
|
660.75
|
|
],
|
|
"projected_center_px": [
|
|
1056.5108642578125,
|
|
660.4798583984375
|
|
],
|
|
"reprojection_error_px": 0.5587756787657002,
|
|
"confidence": 0.3614809694286344
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
983.25,
|
|
665.0
|
|
],
|
|
"projected_center_px": [
|
|
982.9725952148438,
|
|
664.6309204101562
|
|
],
|
|
"reprojection_error_px": 0.46170678841318324,
|
|
"confidence": 0.36820843364733136
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"observed_center_px": [
|
|
433.5,
|
|
646.5
|
|
],
|
|
"projected_center_px": [
|
|
434.1227722167969,
|
|
646.3070068359375
|
|
],
|
|
"reprojection_error_px": 0.651990487192067,
|
|
"confidence": 0.2645759511823127
|
|
},
|
|
{
|
|
"marker_id": 93,
|
|
"observed_center_px": [
|
|
453.5,
|
|
588.0
|
|
],
|
|
"projected_center_px": [
|
|
453.8638610839844,
|
|
588.4290161132812
|
|
],
|
|
"reprojection_error_px": 0.562538633245073,
|
|
"confidence": 0.24857011172701135
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
1062.0,
|
|
594.25
|
|
],
|
|
"projected_center_px": [
|
|
1061.968994140625,
|
|
594.0921020507812
|
|
],
|
|
"reprojection_error_px": 0.16091341051344735,
|
|
"confidence": 0.33737498855590825
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
991.0,
|
|
563.0
|
|
],
|
|
"projected_center_px": [
|
|
990.3995971679688,
|
|
562.8884887695312
|
|
],
|
|
"reprojection_error_px": 0.6106703818196851,
|
|
"confidence": 0.3010063191208027
|
|
},
|
|
{
|
|
"marker_id": 49,
|
|
"observed_center_px": [
|
|
418.5,
|
|
541.75
|
|
],
|
|
"projected_center_px": [
|
|
419.17529296875,
|
|
542.6862182617188
|
|
],
|
|
"reprojection_error_px": 1.154350565131263,
|
|
"confidence": 0.18572526481255427
|
|
},
|
|
{
|
|
"marker_id": 65,
|
|
"observed_center_px": [
|
|
976.0,
|
|
520.75
|
|
],
|
|
"projected_center_px": [
|
|
975.18896484375,
|
|
520.5609130859375
|
|
],
|
|
"reprojection_error_px": 0.8327856181173767,
|
|
"confidence": 0.2338696816856176
|
|
},
|
|
{
|
|
"marker_id": 78,
|
|
"observed_center_px": [
|
|
1011.0,
|
|
491.5
|
|
],
|
|
"projected_center_px": [
|
|
1010.1187744140625,
|
|
491.44244384765625
|
|
],
|
|
"reprojection_error_px": 0.8831031898841195,
|
|
"confidence": 0.23959378026474387
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
981.75,
|
|
468.5
|
|
],
|
|
"projected_center_px": [
|
|
981.3944702148438,
|
|
468.3933410644531
|
|
],
|
|
"reprojection_error_px": 0.37118399300783667,
|
|
"confidence": 0.19526343882223757
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
859.75,
|
|
448.25
|
|
],
|
|
"projected_center_px": [
|
|
858.9118041992188,
|
|
447.6842346191406
|
|
],
|
|
"reprojection_error_px": 1.0112678510791662,
|
|
"confidence": 0.16576166671752926
|
|
},
|
|
{
|
|
"marker_id": 99,
|
|
"observed_center_px": [
|
|
923.0,
|
|
415.25
|
|
],
|
|
"projected_center_px": [
|
|
922.5694580078125,
|
|
415.4199523925781
|
|
],
|
|
"reprojection_error_px": 0.4628717130910145,
|
|
"confidence": 0.16951111831691126
|
|
},
|
|
{
|
|
"marker_id": 89,
|
|
"observed_center_px": [
|
|
953.0,
|
|
385.0
|
|
],
|
|
"projected_center_px": [
|
|
952.1853637695312,
|
|
385.3843688964844
|
|
],
|
|
"reprojection_error_px": 0.900761697996174,
|
|
"confidence": 0.15606882836445
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |