481 lines
11 KiB
JSON
481 lines
11 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-25T17:25:09Z",
|
|
"source": {
|
|
"detection_json": "/app/data/homing/20260625_172504/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": 20,
|
|
"used_marker_ids": [
|
|
97,
|
|
66,
|
|
85,
|
|
54,
|
|
105,
|
|
69,
|
|
47,
|
|
95,
|
|
58,
|
|
64,
|
|
103,
|
|
62,
|
|
96,
|
|
208,
|
|
51,
|
|
79,
|
|
210,
|
|
68,
|
|
50,
|
|
91
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.011403454671871994,
|
|
0.001728926659833975,
|
|
0.0016691755968926973,
|
|
0.0016691753847773315
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.4096867660331136,
|
|
"residual_median_px": 1.5691231791727809,
|
|
"residual_max_px": 12.026369061549262,
|
|
"sigma2_normalized": 3.2778193707572165e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9973888397216797,
|
|
0.04563671350479126,
|
|
-0.05597161129117012
|
|
],
|
|
[
|
|
-0.02958603762090206,
|
|
-0.4488010108470917,
|
|
-0.8931418061256409
|
|
],
|
|
[
|
|
-0.0658801719546318,
|
|
0.8924656510353088,
|
|
-0.4462788999080658
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.2678244411945343,
|
|
0.030760858207941055,
|
|
1.0215346813201904
|
|
],
|
|
"rvec_rad": [
|
|
2.0344335845398724,
|
|
0.011289329253343375,
|
|
-0.08570511152514877
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.33533409237861633,
|
|
-0.885656476020813,
|
|
0.4683726131916046
|
|
],
|
|
"position_mm": [
|
|
335.3341064453125,
|
|
-885.656494140625,
|
|
468.37261962890625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 116.56741333007812,
|
|
"pitch": 3.777391195297241,
|
|
"yaw": -1.6990946531295776
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
9.702707532310775e-06,
|
|
1.2273484057683694e-06,
|
|
3.575388647845507e-06,
|
|
-1.2199370555784652e-07,
|
|
-2.1440042443296295e-06,
|
|
1.039618282302021e-07
|
|
],
|
|
[
|
|
1.22734840576837e-06,
|
|
3.358446334387221e-06,
|
|
1.8878909236797321e-07,
|
|
4.651297819399596e-07,
|
|
-8.835069052569738e-07,
|
|
6.206962238461149e-07
|
|
],
|
|
[
|
|
3.5753886478454758e-06,
|
|
1.8878909236796024e-07,
|
|
1.143731789507973e-05,
|
|
-7.216885572151019e-07,
|
|
-2.2145565854988443e-06,
|
|
-3.0088157401175667e-06
|
|
],
|
|
[
|
|
-1.219937055578466e-07,
|
|
4.651297819399599e-07,
|
|
-7.216885572151033e-07,
|
|
2.2942348340442282e-07,
|
|
3.6332485943604063e-08,
|
|
3.2363949947789566e-07
|
|
],
|
|
[
|
|
-2.1440042443296215e-06,
|
|
-8.835069052569716e-07,
|
|
-2.2145565854988506e-06,
|
|
3.633248594360388e-08,
|
|
9.86494679764419e-07,
|
|
6.579597825341255e-07
|
|
],
|
|
[
|
|
1.039618282302198e-07,
|
|
6.206962238461218e-07,
|
|
-3.0088157401175595e-06,
|
|
3.2363949947789524e-07,
|
|
6.579597825341204e-07,
|
|
2.970696318843356e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.1784715940965861,
|
|
0.10500061405868079,
|
|
0.19376919211544102
|
|
],
|
|
"tvec_std_m": [
|
|
0.0004789817151044733,
|
|
0.0009932243854056438,
|
|
0.0017235708047084566
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0024386451901829424,
|
|
0.0013863680263389562,
|
|
0.002737631446074117
|
|
],
|
|
"camera_center_std_mm": [
|
|
2.4386451901829425,
|
|
1.3863680263389562,
|
|
2.7376314460741167
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.19011944203297743,
|
|
"pitch": 0.14270986978198957,
|
|
"yaw": 0.1181609242753551
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
676.25,
|
|
910.5
|
|
],
|
|
"projected_center_px": [
|
|
675.9551391601562,
|
|
911.3131713867188
|
|
],
|
|
"reprojection_error_px": 0.8649801263910383,
|
|
"confidence": 0.42385670146087856
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
480.5,
|
|
921.0
|
|
],
|
|
"projected_center_px": [
|
|
480.5653381347656,
|
|
919.2376098632812
|
|
],
|
|
"reprojection_error_px": 1.763600880544741,
|
|
"confidence": 0.2797311732321247
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
1080.0,
|
|
843.5
|
|
],
|
|
"projected_center_px": [
|
|
1077.551025390625,
|
|
842.6098022460938
|
|
],
|
|
"reprojection_error_px": 2.605749158768581,
|
|
"confidence": 0.6761152978036918
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
753.5,
|
|
868.5
|
|
],
|
|
"projected_center_px": [
|
|
753.16845703125,
|
|
868.4518432617188
|
|
],
|
|
"reprojection_error_px": 0.33502210609070604,
|
|
"confidence": 0.6745646371332027
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
1098.25,
|
|
783.5
|
|
],
|
|
"projected_center_px": [
|
|
1096.3798828125,
|
|
782.7687377929688
|
|
],
|
|
"reprojection_error_px": 2.0080046589625047,
|
|
"confidence": 0.53843639257073
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
130.25,
|
|
818.25
|
|
],
|
|
"projected_center_px": [
|
|
131.2628631591797,
|
|
816.5780639648438
|
|
],
|
|
"reprojection_error_px": 1.9548048201489217,
|
|
"confidence": 0.6309056746154269
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
755.0,
|
|
810.25
|
|
],
|
|
"projected_center_px": [
|
|
754.8045043945312,
|
|
810.226318359375
|
|
],
|
|
"reprojection_error_px": 0.19692473653729947,
|
|
"confidence": 0.558404255319149
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
461.25,
|
|
799.75
|
|
],
|
|
"projected_center_px": [
|
|
462.01556396484375,
|
|
799.7348022460938
|
|
],
|
|
"reprojection_error_px": 0.7657148006869643,
|
|
"confidence": 0.5573620390355706
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
243.0,
|
|
742.5
|
|
],
|
|
"projected_center_px": [
|
|
244.86248779296875,
|
|
742.42578125
|
|
],
|
|
"reprojection_error_px": 1.8639659872994379,
|
|
"confidence": 0.4721784486231997
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
139.75,
|
|
714.0
|
|
],
|
|
"projected_center_px": [
|
|
141.61831665039062,
|
|
715.1568603515625
|
|
],
|
|
"reprojection_error_px": 2.197483328524737,
|
|
"confidence": 0.4471706966400147
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
350.75,
|
|
708.0
|
|
],
|
|
"projected_center_px": [
|
|
352.2232971191406,
|
|
708.7933959960938
|
|
],
|
|
"reprojection_error_px": 1.6733444379103959,
|
|
"confidence": 0.3922909999211629
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
851.5,
|
|
685.25
|
|
],
|
|
"projected_center_px": [
|
|
851.7431640625,
|
|
686.1382446289062
|
|
],
|
|
"reprojection_error_px": 0.9209274032584249,
|
|
"confidence": 0.3564780454484243
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
793.25,
|
|
698.0
|
|
],
|
|
"projected_center_px": [
|
|
793.7991333007812,
|
|
698.2991943359375
|
|
],
|
|
"reprojection_error_px": 0.6253516072450701,
|
|
"confidence": 0.3348906742607279
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1202.5,
|
|
583.0
|
|
],
|
|
"projected_center_px": [
|
|
1209.5457763671875,
|
|
583.9437866210938
|
|
],
|
|
"reprojection_error_px": 7.108705775496229,
|
|
"confidence": 0.28965074531908364
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
458.0,
|
|
690.5
|
|
],
|
|
"projected_center_px": [
|
|
459.341064453125,
|
|
691.0894775390625
|
|
],
|
|
"reprojection_error_px": 1.4649019204351656,
|
|
"confidence": 0.34674061533734285
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
696.25,
|
|
672.25
|
|
],
|
|
"projected_center_px": [
|
|
697.0543212890625,
|
|
673.733154296875
|
|
],
|
|
"reprojection_error_px": 1.6872105394342276,
|
|
"confidence": 0.3256815826862768
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
439.25,
|
|
532.5
|
|
],
|
|
"projected_center_px": [
|
|
427.3565673828125,
|
|
530.716796875
|
|
],
|
|
"reprojection_error_px": 12.026369061549262,
|
|
"confidence": 0.15571821530659996
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
1027.25,
|
|
434.25
|
|
],
|
|
"projected_center_px": [
|
|
1027.0755615234375,
|
|
434.6865539550781
|
|
],
|
|
"reprojection_error_px": 0.47011502613700773,
|
|
"confidence": 0.09323781394061914
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
1017.0,
|
|
413.5
|
|
],
|
|
"projected_center_px": [
|
|
1016.9035034179688,
|
|
413.9068298339844
|
|
],
|
|
"reprojection_error_px": 0.41811733301008686,
|
|
"confidence": 0.08307692198670814
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
1165.5,
|
|
355.75
|
|
],
|
|
"projected_center_px": [
|
|
1165.020751953125,
|
|
355.35980224609375
|
|
],
|
|
"reprojection_error_px": 0.6180072633772071,
|
|
"confidence": 0.06871920537654881
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |