481 lines
11 KiB
JSON
481 lines
11 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-25T17:59:21Z",
|
|
"source": {
|
|
"detection_json": "/app/data/homing/20260625_175916/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,
|
|
96,
|
|
62,
|
|
51,
|
|
79,
|
|
208,
|
|
210,
|
|
68,
|
|
50,
|
|
53
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.011436738437523918,
|
|
0.0017627388219078695,
|
|
0.0017082741597643208,
|
|
0.0017082738298200922
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.4895581122703203,
|
|
"residual_median_px": 1.3632084656881505,
|
|
"residual_max_px": 12.179917236270976,
|
|
"sigma2_normalized": 3.433175856049273e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.99742591381073,
|
|
0.04507605358958244,
|
|
-0.055764634162187576
|
|
],
|
|
[
|
|
-0.029563840478658676,
|
|
-0.4500020146369934,
|
|
-0.8925380110740662
|
|
],
|
|
[
|
|
-0.06532628834247589,
|
|
0.891889214515686,
|
|
-0.44751107692718506
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.26810967922210693,
|
|
0.0306912399828434,
|
|
1.021647572517395
|
|
],
|
|
"rvec_rad": [
|
|
2.035801112416453,
|
|
0.010908616696792009,
|
|
-0.08515448496251522
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.33506736159324646,
|
|
-0.8853000402450562,
|
|
0.46964067220687866
|
|
],
|
|
"position_mm": [
|
|
335.0673522949219,
|
|
-885.300048828125,
|
|
469.64068603515625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 116.64550018310547,
|
|
"pitch": 3.745587110519409,
|
|
"yaw": -1.6977574825286865
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
1.0402983243682025e-05,
|
|
9.607061849723336e-07,
|
|
3.175419172829312e-06,
|
|
-1.413862159845341e-07,
|
|
-2.12955432250041e-06,
|
|
2.312142235999549e-07
|
|
],
|
|
[
|
|
9.607061849723307e-07,
|
|
3.7788686477185887e-06,
|
|
-1.6924039364567714e-07,
|
|
5.562539816390373e-07,
|
|
-8.841983839385075e-07,
|
|
6.874403655011122e-07
|
|
],
|
|
[
|
|
3.175419172829249e-06,
|
|
-1.692403936456681e-07,
|
|
1.3583347408234157e-05,
|
|
-9.175016077988046e-07,
|
|
-2.2808655354386924e-06,
|
|
-3.2773776598692575e-06
|
|
],
|
|
[
|
|
-1.4138621598453382e-07,
|
|
5.562539816390341e-07,
|
|
-9.175016077987983e-07,
|
|
2.6164306620048117e-07,
|
|
4.0225581275842607e-08,
|
|
3.496020393352873e-07
|
|
],
|
|
[
|
|
-2.1295543225004017e-06,
|
|
-8.841983839385094e-07,
|
|
-2.280865535438699e-06,
|
|
4.02255812758387e-08,
|
|
9.903676474491735e-07,
|
|
6.66954432381659e-07
|
|
],
|
|
[
|
|
2.3121422359997266e-07,
|
|
6.874403655011114e-07,
|
|
-3.277377659869258e-06,
|
|
3.4960203933526876e-07,
|
|
6.669544323816537e-07,
|
|
3.1141328985088255e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.18479983617802564,
|
|
0.11137905544845887,
|
|
0.2111669934581791
|
|
],
|
|
"tvec_std_m": [
|
|
0.0005115105729117251,
|
|
0.0009951721697521356,
|
|
0.0017646905956877612
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0026703652741227927,
|
|
0.0018374002535456223,
|
|
0.0027539784841622054
|
|
],
|
|
"camera_center_std_mm": [
|
|
2.670365274122793,
|
|
1.8374002535456224,
|
|
2.7539784841622055
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.1722531066068174,
|
|
"pitch": 0.1564002711188888,
|
|
"yaw": 0.12201801252145385
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
676.0,
|
|
910.5
|
|
],
|
|
"projected_center_px": [
|
|
675.7621459960938,
|
|
911.7245483398438
|
|
],
|
|
"reprojection_error_px": 1.247434633072338,
|
|
"confidence": 0.42385670146087856
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
479.5,
|
|
922.25
|
|
],
|
|
"projected_center_px": [
|
|
480.50054931640625,
|
|
919.6788330078125
|
|
],
|
|
"reprojection_error_px": 2.7589850735869397,
|
|
"confidence": 0.27078087716396265
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
1079.0,
|
|
843.75
|
|
],
|
|
"projected_center_px": [
|
|
1076.984619140625,
|
|
842.904296875
|
|
],
|
|
"reprojection_error_px": 2.1856289218368885,
|
|
"confidence": 0.6759853525830334
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
753.5,
|
|
868.75
|
|
],
|
|
"projected_center_px": [
|
|
752.8966064453125,
|
|
868.8074340820312
|
|
],
|
|
"reprojection_error_px": 0.606120825922678,
|
|
"confidence": 0.6610788202218779
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
1098.25,
|
|
784.0
|
|
],
|
|
"projected_center_px": [
|
|
1095.7879638671875,
|
|
782.9950561523438
|
|
],
|
|
"reprojection_error_px": 2.6592356150248286,
|
|
"confidence": 0.5825558453258135
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
130.5,
|
|
818.0
|
|
],
|
|
"projected_center_px": [
|
|
131.20993041992188,
|
|
816.9083862304688
|
|
],
|
|
"reprojection_error_px": 1.302160444400257,
|
|
"confidence": 0.5841161997457144
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
755.0,
|
|
810.5
|
|
],
|
|
"projected_center_px": [
|
|
754.5029907226562,
|
|
810.5115966796875
|
|
],
|
|
"reprojection_error_px": 0.4971445511574386,
|
|
"confidence": 0.5487375886524822
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
461.0,
|
|
800.25
|
|
],
|
|
"projected_center_px": [
|
|
461.86224365234375,
|
|
800.0243530273438
|
|
],
|
|
"reprojection_error_px": 0.8912803555986298,
|
|
"confidence": 0.5215660558894334
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
243.25,
|
|
743.0
|
|
],
|
|
"projected_center_px": [
|
|
244.70860290527344,
|
|
742.6357421875
|
|
],
|
|
"reprojection_error_px": 1.5033982137941357,
|
|
"confidence": 0.468912299986827
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
139.5,
|
|
714.0
|
|
],
|
|
"projected_center_px": [
|
|
141.43846130371094,
|
|
715.3218383789062
|
|
],
|
|
"reprojection_error_px": 2.346249970897008,
|
|
"confidence": 0.4334442420959473
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
350.5,
|
|
708.0
|
|
],
|
|
"projected_center_px": [
|
|
352.01885986328125,
|
|
708.9456787109375
|
|
],
|
|
"reprojection_error_px": 1.78920191946218,
|
|
"confidence": 0.3938267188343575
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
793.0,
|
|
697.75
|
|
],
|
|
"projected_center_px": [
|
|
793.4209594726562,
|
|
698.4274291992188
|
|
],
|
|
"reprojection_error_px": 0.7975695565737103,
|
|
"confidence": 0.36075364145684324
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
851.25,
|
|
685.5
|
|
],
|
|
"projected_center_px": [
|
|
851.3250732421875,
|
|
686.2469482421875
|
|
],
|
|
"reprojection_error_px": 0.7507114413671468,
|
|
"confidence": 0.34135471017020086
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
457.75,
|
|
690.75
|
|
],
|
|
"projected_center_px": [
|
|
459.0975646972656,
|
|
691.2110595703125
|
|
],
|
|
"reprojection_error_px": 1.4242564869760441,
|
|
"confidence": 0.3676955439548635
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
695.75,
|
|
672.0
|
|
],
|
|
"projected_center_px": [
|
|
696.7139892578125,
|
|
673.8245849609375
|
|
],
|
|
"reprojection_error_px": 2.0635856097717857,
|
|
"confidence": 0.3187317073170732
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1201.75,
|
|
583.0
|
|
],
|
|
"projected_center_px": [
|
|
1208.861572265625,
|
|
583.9735107421875
|
|
],
|
|
"reprojection_error_px": 7.177895461370356,
|
|
"confidence": 0.28568227626765064
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
439.0,
|
|
532.75
|
|
],
|
|
"projected_center_px": [
|
|
427.0049133300781,
|
|
530.6361694335938
|
|
],
|
|
"reprojection_error_px": 12.179917236270976,
|
|
"confidence": 0.16251118951659882
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
1027.25,
|
|
434.25
|
|
],
|
|
"projected_center_px": [
|
|
1026.4912109375,
|
|
434.3568420410156
|
|
],
|
|
"reprojection_error_px": 0.7662741435661348,
|
|
"confidence": 0.09654486228169104
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
1016.5,
|
|
413.5
|
|
],
|
|
"projected_center_px": [
|
|
1016.3207397460938,
|
|
413.5331726074219
|
|
],
|
|
"reprojection_error_px": 0.18230375891269784,
|
|
"confidence": 0.08377973241313476
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
909.0,
|
|
416.5
|
|
],
|
|
"projected_center_px": [
|
|
909.6261596679688,
|
|
416.78497314453125
|
|
],
|
|
"reprojection_error_px": 0.6879575734700244,
|
|
"confidence": 0.07916194626380657
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |