16MPixel Bilder + Arbeiten an Statistik
This commit is contained in:
chk
277
data/evaluations/Scene6/render_c_camera_pose.json
Normal file
277
data/evaluations/Scene6/render_c_camera_pose.json
Normal file
@@ -0,0 +1,277 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-05-31T08:27:17Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_c_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
},
|
||||
"camera": {
|
||||
"camera_id": "c",
|
||||
"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": 5,
|
||||
"used_marker_ids": [
|
||||
208,
|
||||
215,
|
||||
214,
|
||||
210,
|
||||
211
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5
|
||||
],
|
||||
"rms": [
|
||||
0.00457172056376259,
|
||||
0.0004007988655781761,
|
||||
0.0001417445617279961,
|
||||
0.00013819420881295557,
|
||||
0.00013818671534127612,
|
||||
0.00013818671121091364
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05,
|
||||
3.125e-05
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 0.33207999825248774,
|
||||
"residual_median_px": 0.35037969191557206,
|
||||
"residual_max_px": 0.4579046210411868,
|
||||
"sigma2_normalized": 4.773891788784062e-08
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.9937751889228821,
|
||||
0.11140383034944534,
|
||||
-0.00033484713640064
|
||||
],
|
||||
[
|
||||
0.03920517489314079,
|
||||
-0.3525390625,
|
||||
-0.9349755048751831
|
||||
],
|
||||
[
|
||||
-0.10427789390087128,
|
||||
0.9291422963142395,
|
||||
-0.35471218824386597
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
-0.1977289766073227,
|
||||
0.12576112151145935,
|
||||
1.0029146671295166
|
||||
],
|
||||
"rvec_rad": [
|
||||
1.93112480095096,
|
||||
0.10767935618108943,
|
||||
-0.07479388689590213
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.29614949226379395,
|
||||
-0.8654869794845581,
|
||||
0.4732634127140045
|
||||
],
|
||||
"position_mm": [
|
||||
296.1495056152344,
|
||||
-865.4869995117188,
|
||||
473.263427734375
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 110.8949966430664,
|
||||
"pitch": 5.985564231872559,
|
||||
"yaw": 2.2591898441314697
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
8.650701546181118e-06,
|
||||
-1.4300362394143149e-06,
|
||||
3.241852486781931e-07,
|
||||
-3.8261359778263076e-08,
|
||||
-1.4218259209511637e-07,
|
||||
3.1239545397407057e-07
|
||||
],
|
||||
[
|
||||
-1.430036239413979e-06,
|
||||
2.1923263392146404e-06,
|
||||
-2.9486939460509208e-06,
|
||||
1.3613279381430744e-07,
|
||||
-9.181878829155968e-08,
|
||||
-3.46643684353169e-08
|
||||
],
|
||||
[
|
||||
3.24185248677353e-07,
|
||||
-2.9486939460508564e-06,
|
||||
8.05258806227672e-06,
|
||||
-2.5866243915244943e-07,
|
||||
-1.6580449252772927e-07,
|
||||
2.380629356259459e-08
|
||||
],
|
||||
[
|
||||
-3.826135977823607e-08,
|
||||
1.361327938143063e-07,
|
||||
-2.58662439152452e-07,
|
||||
1.9692258029561944e-08,
|
||||
3.342634535551964e-09,
|
||||
2.732955811434269e-08
|
||||
],
|
||||
[
|
||||
-1.4218259209510666e-07,
|
||||
-9.18187882915488e-08,
|
||||
-1.658044925277583e-07,
|
||||
3.3426345355528607e-09,
|
||||
6.138716493600708e-08,
|
||||
8.038521416539434e-08
|
||||
],
|
||||
[
|
||||
3.123954539740635e-07,
|
||||
-3.466436843532243e-08,
|
||||
2.3806293562608388e-08,
|
||||
2.7329558114342263e-08,
|
||||
8.038521416539451e-08,
|
||||
5.597135914859203e-07
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.16851877630655818,
|
||||
0.08483503302098622,
|
||||
0.1625887057112848
|
||||
],
|
||||
"tvec_std_m": [
|
||||
0.0001403291061382561,
|
||||
0.0002477643334622784,
|
||||
0.0007481400881425352
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.002478390115746165,
|
||||
0.0014539653798101254,
|
||||
0.002511575922092966
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
2.4783901157461647,
|
||||
1.4539653798101253,
|
||||
2.511575922092966
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.17613108669612543,
|
||||
"pitch": 0.1448333486459573,
|
||||
"yaw": 0.054457863810304
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 208,
|
||||
"observed_center_px": [
|
||||
922.5,
|
||||
650.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
922.0996704101562,
|
||||
650.4722900390625
|
||||
],
|
||||
"reprojection_error_px": 0.4579046210411868,
|
||||
"confidence": 0.2964796698261984
|
||||
},
|
||||
{
|
||||
"marker_id": 215,
|
||||
"observed_center_px": [
|
||||
720.75,
|
||||
640.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
720.9915771484375,
|
||||
640.4962158203125
|
||||
],
|
||||
"reprojection_error_px": 0.35037969191557206,
|
||||
"confidence": 0.2743742952602821
|
||||
},
|
||||
{
|
||||
"marker_id": 214,
|
||||
"observed_center_px": [
|
||||
916.75,
|
||||
583.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
916.7447509765625,
|
||||
583.706787109375
|
||||
],
|
||||
"reprojection_error_px": 0.043530519905184195,
|
||||
"confidence": 0.21966133686197709
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
314.25,
|
||||
563.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
314.03302001953125,
|
||||
563.6098022460938
|
||||
],
|
||||
"reprojection_error_px": 0.24318068420713757,
|
||||
"confidence": 0.233781757000696
|
||||
},
|
||||
{
|
||||
"marker_id": 211,
|
||||
"observed_center_px": [
|
||||
730.75,
|
||||
575.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
731.14599609375,
|
||||
575.2168579101562
|
||||
],
|
||||
"reprojection_error_px": 0.3973805536063258,
|
||||
"confidence": 0.19992181809841383
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user