16MPixel Bilder + Arbeiten an Statistik
This commit is contained in:
chk
586
data/evaluations/Scene10/render_f_camera_pose.json
Normal file
586
data/evaluations/Scene10/render_f_camera_pose.json
Normal file
@@ -0,0 +1,586 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-05-31T08:49:02Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\render_f_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
},
|
||||
"camera": {
|
||||
"camera_id": "f",
|
||||
"camera_matrix": [
|
||||
[
|
||||
1777.77783203125,
|
||||
0.0,
|
||||
640.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
1500.0,
|
||||
360.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
],
|
||||
"distortion_coefficients": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"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": 26,
|
||||
"used_marker_ids": [
|
||||
46,
|
||||
56,
|
||||
62,
|
||||
47,
|
||||
54,
|
||||
53,
|
||||
72,
|
||||
97,
|
||||
55,
|
||||
208,
|
||||
84,
|
||||
66,
|
||||
95,
|
||||
51,
|
||||
103,
|
||||
73,
|
||||
210,
|
||||
58,
|
||||
69,
|
||||
82,
|
||||
101,
|
||||
64,
|
||||
52,
|
||||
77,
|
||||
83,
|
||||
75
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9,
|
||||
10
|
||||
],
|
||||
"rms": [
|
||||
0.0167704363159126,
|
||||
0.015243171754814894,
|
||||
0.010301850372253396,
|
||||
0.008291029405735773,
|
||||
0.007920733728008833,
|
||||
0.007898427980568242,
|
||||
0.007897597169044595,
|
||||
0.007897565821941078,
|
||||
0.007897564667283566,
|
||||
0.007897564624915886,
|
||||
0.007897564623353889
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05,
|
||||
3.125e-05,
|
||||
1.5625e-05,
|
||||
7.8125e-06,
|
||||
3.90625e-06,
|
||||
1.953125e-06,
|
||||
9.765625e-07
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 18.213392327260703,
|
||||
"residual_median_px": 18.117125783987152,
|
||||
"residual_max_px": 32.54572225799435,
|
||||
"sigma2_normalized": 7.050694354166836e-05
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.3270607888698578,
|
||||
0.8955168128013611,
|
||||
0.3017960488796234
|
||||
],
|
||||
[
|
||||
0.9449783563613892,
|
||||
-0.30760660767555237,
|
||||
-0.11132851988077164
|
||||
],
|
||||
[
|
||||
-0.006862103007733822,
|
||||
0.3216019570827484,
|
||||
-0.9468501210212708
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
0.12286898493766785,
|
||||
-0.2004292607307434,
|
||||
1.2903509140014648
|
||||
],
|
||||
"rvec_rad": [
|
||||
2.3279126629159066,
|
||||
1.6596874119806733,
|
||||
0.26596003904075904
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.15807020664215088,
|
||||
-0.5866639614105225,
|
||||
1.1623741388320923
|
||||
],
|
||||
"position_mm": [
|
||||
158.07020568847656,
|
||||
-586.6639404296875,
|
||||
1162.3741455078125
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 161.2397003173828,
|
||||
"pitch": 0.39317262172698975,
|
||||
"yaw": 70.90904998779297
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
0.0006422549226693641,
|
||||
0.0003679800262970043,
|
||||
-0.0001406485938755943,
|
||||
4.5226289811970167e-07,
|
||||
2.4539080861910246e-05,
|
||||
0.00016557358189333448
|
||||
],
|
||||
[
|
||||
0.0003679800262970034,
|
||||
0.0003723921967103896,
|
||||
-1.4695085554455631e-05,
|
||||
2.4005429513648882e-05,
|
||||
1.4590803757772735e-05,
|
||||
9.473970763692627e-05
|
||||
],
|
||||
[
|
||||
-0.0001406485938755792,
|
||||
-1.4695085554444648e-05,
|
||||
0.0016458678848285827,
|
||||
5.24854384061194e-05,
|
||||
3.434000339463372e-06,
|
||||
-0.0004933767479868205
|
||||
],
|
||||
[
|
||||
4.5226289811996356e-07,
|
||||
2.4005429513649092e-05,
|
||||
5.2485438406118784e-05,
|
||||
1.0361547178331245e-05,
|
||||
5.705547888533696e-07,
|
||||
-1.6369631957848704e-06
|
||||
],
|
||||
[
|
||||
2.453908086191022e-05,
|
||||
1.4590803757772765e-05,
|
||||
3.434000339462659e-06,
|
||||
5.705547888533528e-07,
|
||||
5.630671564211648e-06,
|
||||
6.156796880127896e-06
|
||||
],
|
||||
[
|
||||
0.00016557358189332966,
|
||||
9.473970763692288e-05,
|
||||
-0.0004933767479868248,
|
||||
-1.6369631957851427e-06,
|
||||
6.156796880127714e-06,
|
||||
0.00027475136395630926
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
1.4520325542030006,
|
||||
1.1056633610894815,
|
||||
2.3244495140991273
|
||||
],
|
||||
"tvec_std_m": [
|
||||
0.00321893572137302,
|
||||
0.0023729036146063007,
|
||||
0.01657562559773565
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.03516491083679349,
|
||||
0.030484955751684896,
|
||||
0.02853126329700322
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
35.16491083679349,
|
||||
30.484955751684897,
|
||||
28.531263297003218
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 1.4691029688261543,
|
||||
"pitch": 1.5806183341786204,
|
||||
"yaw": 0.6189097024647637
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
1234.0,
|
||||
666.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1231.0980224609375,
|
||||
636.2955322265625
|
||||
],
|
||||
"reprojection_error_px": 29.845885467521487,
|
||||
"confidence": 0.2988751797371847
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
1196.0,
|
||||
626.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1197.611572265625,
|
||||
603.559814453125
|
||||
],
|
||||
"reprojection_error_px": 23.24611517793504,
|
||||
"confidence": 0.5697620483284124
|
||||
},
|
||||
{
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
750.75,
|
||||
651.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
767.5397338867188,
|
||||
645.0641479492188
|
||||
],
|
||||
"reprojection_error_px": 18.071961200483134,
|
||||
"confidence": 0.5711737708098855
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
593.75,
|
||||
623.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
597.2360229492188,
|
||||
625.25830078125
|
||||
],
|
||||
"reprojection_error_px": 3.798332166780461,
|
||||
"confidence": 0.5768583617164568
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
540.5,
|
||||
639.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
537.71484375,
|
||||
642.8984375
|
||||
],
|
||||
"reprojection_error_px": 4.7911282886518824,
|
||||
"confidence": 0.5766374039623903
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
1240.5,
|
||||
594.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1236.910400390625,
|
||||
573.7605590820312
|
||||
],
|
||||
"reprojection_error_px": 21.294174212787073,
|
||||
"confidence": 0.21364841201201337
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
1197.5,
|
||||
548.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1199.408203125,
|
||||
533.9830932617188
|
||||
],
|
||||
"reprojection_error_px": 14.641783375470876,
|
||||
"confidence": 0.5755104606164277
|
||||
},
|
||||
{
|
||||
"marker_id": 97,
|
||||
"observed_center_px": [
|
||||
491.5,
|
||||
605.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
479.9110107421875,
|
||||
611.3904418945312
|
||||
],
|
||||
"reprojection_error_px": 13.115246802016653,
|
||||
"confidence": 0.5705029634947052
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
598.5,
|
||||
542.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
599.927001953125,
|
||||
544.773681640625
|
||||
],
|
||||
"reprojection_error_px": 2.4762112100596863,
|
||||
"confidence": 0.5459402660246769
|
||||
},
|
||||
{
|
||||
"marker_id": 208,
|
||||
"observed_center_px": [
|
||||
831.75,
|
||||
548.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
861.5078125,
|
||||
548.2439575195312
|
||||
],
|
||||
"reprojection_error_px": 29.75891400130322,
|
||||
"confidence": 0.5007410585751645
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"observed_center_px": [
|
||||
1254.25,
|
||||
485.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1250.1849365234375,
|
||||
476.20477294921875
|
||||
],
|
||||
"reprojection_error_px": 9.689208427073734,
|
||||
"confidence": 0.06519221426443914
|
||||
},
|
||||
{
|
||||
"marker_id": 66,
|
||||
"observed_center_px": [
|
||||
453.0,
|
||||
495.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
429.19805908203125,
|
||||
500.9302978515625
|
||||
],
|
||||
"reprojection_error_px": 24.359143607552753,
|
||||
"confidence": 0.5349107016469481
|
||||
},
|
||||
{
|
||||
"marker_id": 95,
|
||||
"observed_center_px": [
|
||||
548.75,
|
||||
435.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
538.6211547851562,
|
||||
436.6878662109375
|
||||
],
|
||||
"reprojection_error_px": 10.268514874717164,
|
||||
"confidence": 0.5227826547122322
|
||||
},
|
||||
{
|
||||
"marker_id": 51,
|
||||
"observed_center_px": [
|
||||
659.25,
|
||||
376.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
661.7478637695312,
|
||||
376.8019104003906
|
||||
],
|
||||
"reprojection_error_px": 2.5581103379635923,
|
||||
"confidence": 0.5111500432161571
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
618.0,
|
||||
313.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
613.2379760742188,
|
||||
312.4875183105469
|
||||
],
|
||||
"reprojection_error_px": 4.86846906544459,
|
||||
"confidence": 0.5046333482067283
|
||||
},
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
1247.5,
|
||||
251.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1246.99560546875,
|
||||
264.7057189941406
|
||||
],
|
||||
"reprojection_error_px": 13.465169419373515,
|
||||
"confidence": 0.13607001327160623
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
775.0,
|
||||
150.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
794.5643310546875,
|
||||
155.0004425048828
|
||||
],
|
||||
"reprojection_error_px": 20.075284116474307,
|
||||
"confidence": 0.46988879526830113
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
562.75,
|
||||
264.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
548.2238159179688,
|
||||
260.10052490234375
|
||||
],
|
||||
"reprojection_error_px": 15.107222364522455,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
476.25,
|
||||
240.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
444.6166076660156,
|
||||
233.09803771972656
|
||||
],
|
||||
"reprojection_error_px": 32.54572225799435,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
1207.5,
|
||||
261.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1210.4010009765625,
|
||||
273.080078125
|
||||
],
|
||||
"reprojection_error_px": 11.937923439489804,
|
||||
"confidence": 0.49001748422717006
|
||||
},
|
||||
{
|
||||
"marker_id": 101,
|
||||
"observed_center_px": [
|
||||
1162.25,
|
||||
153.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1169.740478515625,
|
||||
170.79368591308594
|
||||
],
|
||||
"reprojection_error_px": 18.846189027320793,
|
||||
"confidence": 0.46225891142368675
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
570.5,
|
||||
177.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
553.8019409179688,
|
||||
169.3794403076172
|
||||
],
|
||||
"reprojection_error_px": 18.67863610306572,
|
||||
"confidence": 0.43211414091114625
|
||||
},
|
||||
{
|
||||
"marker_id": 52,
|
||||
"observed_center_px": [
|
||||
1054.5,
|
||||
160.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1067.4603271484375,
|
||||
173.28907775878906
|
||||
],
|
||||
"reprojection_error_px": 18.207981483813057,
|
||||
"confidence": 0.45818248585417487
|
||||
},
|
||||
{
|
||||
"marker_id": 77,
|
||||
"observed_center_px": [
|
||||
1003.0,
|
||||
87.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1016.9718017578125,
|
||||
99.64027404785156
|
||||
],
|
||||
"reprojection_error_px": 18.674317533459593,
|
||||
"confidence": 0.422956152719696
|
||||
},
|
||||
{
|
||||
"marker_id": 83,
|
||||
"observed_center_px": [
|
||||
1173.0,
|
||||
64.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1180.0115966796875,
|
||||
86.30764770507812
|
||||
],
|
||||
"reprojection_error_px": 23.38361892719949,
|
||||
"confidence": 0.4377857805109236
|
||||
},
|
||||
{
|
||||
"marker_id": 75,
|
||||
"observed_center_px": [
|
||||
987.75,
|
||||
42.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1001.5935668945312,
|
||||
53.75688934326172
|
||||
],
|
||||
"reprojection_error_px": 18.16229036749117,
|
||||
"confidence": 0.22473325223116958
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user