Bildfehler, falsch plazierte Arucos
This commit is contained in:
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T20:35:32Z",
|
||||
"created_utc": "2026-06-02T05:24:02Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_f_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
@@ -9,14 +9,14 @@
|
||||
"camera_id": "f",
|
||||
"camera_matrix": [
|
||||
[
|
||||
1777.77783203125,
|
||||
2000.0,
|
||||
0.0,
|
||||
640.0
|
||||
720.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
1777.77783203125,
|
||||
360.0
|
||||
2000.0,
|
||||
540.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
@@ -36,543 +36,526 @@
|
||||
"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": 27,
|
||||
"num_used_markers": 26,
|
||||
"used_marker_ids": [
|
||||
68,
|
||||
46,
|
||||
56,
|
||||
47,
|
||||
62,
|
||||
54,
|
||||
53,
|
||||
56,
|
||||
97,
|
||||
72,
|
||||
215,
|
||||
54,
|
||||
47,
|
||||
55,
|
||||
84,
|
||||
62,
|
||||
72,
|
||||
66,
|
||||
95,
|
||||
51,
|
||||
103,
|
||||
82,
|
||||
73,
|
||||
210,
|
||||
58,
|
||||
69,
|
||||
82,
|
||||
101,
|
||||
74,
|
||||
210,
|
||||
64,
|
||||
52,
|
||||
77,
|
||||
83,
|
||||
75
|
||||
77,
|
||||
75,
|
||||
61
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4
|
||||
3
|
||||
],
|
||||
"rms": [
|
||||
0.007361242886604368,
|
||||
0.0003653993942358196,
|
||||
9.164489402431082e-05,
|
||||
9.16054830078819e-05,
|
||||
9.160546620843857e-05
|
||||
0.008416632156341888,
|
||||
0.0014563332850688533,
|
||||
0.0013700095280301426,
|
||||
0.0013700078453338556
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05
|
||||
0.000125
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 0.2303117349044767,
|
||||
"residual_median_px": 0.17648425193417577,
|
||||
"residual_max_px": 0.3976393379524452,
|
||||
"sigma2_normalized": 9.440506618742194e-09
|
||||
"residual_rms_px": 3.874965136212424,
|
||||
"residual_median_px": 3.5227997775150444,
|
||||
"residual_max_px": 5.852012771734456,
|
||||
"sigma2_normalized": 2.121737343320966e-06
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.3165043294429779,
|
||||
0.9485899209976196,
|
||||
0.0014882172690704465
|
||||
0.3160955309867859,
|
||||
0.9487238526344299,
|
||||
0.0025797339621931314
|
||||
],
|
||||
[
|
||||
0.9183610677719116,
|
||||
-0.30602461099624634,
|
||||
-0.25092199444770813
|
||||
0.9179052114486694,
|
||||
-0.30513763427734375,
|
||||
-0.2536553144454956
|
||||
],
|
||||
[
|
||||
-0.23756663501262665,
|
||||
0.0807846263051033,
|
||||
-0.9680061936378479
|
||||
-0.23986166715621948,
|
||||
0.08254725486040115,
|
||||
-0.9672912359237671
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
0.1261143833398819,
|
||||
-0.20017947256565094,
|
||||
1.4975119829177856
|
||||
0.1259421855211258,
|
||||
-0.2002721130847931,
|
||||
1.4973636865615845
|
||||
],
|
||||
"rvec_rad": [
|
||||
2.374711802356422,
|
||||
1.7114110939780351,
|
||||
-0.21641019802521885
|
||||
2.3718102217212973,
|
||||
1.7103527942113022,
|
||||
-0.21741642475062148
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.49968016147613525,
|
||||
-0.3018666207790375,
|
||||
1.399183750152588
|
||||
0.5031812191009521,
|
||||
-0.30419817566871643,
|
||||
1.3972618579864502
|
||||
],
|
||||
"position_mm": [
|
||||
499.68017578125,
|
||||
-301.8666076660156,
|
||||
1399.1837158203125
|
||||
503.18121337890625,
|
||||
-304.19818115234375,
|
||||
1397.2618408203125
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 175.2294464111328,
|
||||
"pitch": 13.742963790893555,
|
||||
"yaw": 70.98397064208984
|
||||
"roll": 175.1222686767578,
|
||||
"pitch": 13.878375053405762,
|
||||
"yaw": 70.99801635742188
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
1.7821255499500834e-07,
|
||||
1.1378656398482221e-07,
|
||||
-1.4737142148217561e-08,
|
||||
-1.8533236538334094e-09,
|
||||
6.738689930879477e-10,
|
||||
1.0833345422934384e-08
|
||||
3.1852406112065966e-05,
|
||||
1.9154435746919504e-05,
|
||||
-6.700836600353422e-06,
|
||||
-4.4237574567895556e-07,
|
||||
2.186715816472518e-07,
|
||||
2.708892861310153e-06
|
||||
],
|
||||
[
|
||||
1.1378656398482218e-07,
|
||||
1.0106730226754071e-07,
|
||||
-4.0916354766287084e-08,
|
||||
1.7737988062902355e-09,
|
||||
-1.0777386533119191e-10,
|
||||
1.3347903204217209e-08
|
||||
1.9154435746919436e-05,
|
||||
1.7468854564826478e-05,
|
||||
-1.0730851362144012e-05,
|
||||
3.894759950513676e-07,
|
||||
3.4742005599867713e-08,
|
||||
2.9816302231205955e-06
|
||||
],
|
||||
[
|
||||
-1.4737142148209665e-08,
|
||||
-4.091635476627995e-08,
|
||||
7.991758315646605e-07,
|
||||
6.197428924044788e-09,
|
||||
-8.224093362206842e-09,
|
||||
-1.4232193526454197e-07
|
||||
-6.700836600349839e-06,
|
||||
-1.0730851362140909e-05,
|
||||
0.00018216669310099345,
|
||||
1.5680581098036084e-06,
|
||||
-1.8029038769530656e-06,
|
||||
-3.208921592765715e-05
|
||||
],
|
||||
[
|
||||
-1.8533236538332181e-09,
|
||||
1.7737988062903513e-09,
|
||||
6.197428924044598e-09,
|
||||
1.4884957612538316e-09,
|
||||
-1.3736224299157495e-10,
|
||||
1.2595150626417418e-09
|
||||
-4.4237574567890595e-07,
|
||||
3.89475995051409e-07,
|
||||
1.5680581098035165e-06,
|
||||
3.423267966842042e-07,
|
||||
-2.7126410073583545e-08,
|
||||
2.237739787962633e-07
|
||||
],
|
||||
[
|
||||
6.738689930879671e-10,
|
||||
-1.0777386533138668e-10,
|
||||
-8.224093362206965e-09,
|
||||
-1.373622429915981e-10,
|
||||
8.709491101888092e-10,
|
||||
1.7230680269593937e-09
|
||||
2.1867158164721044e-07,
|
||||
3.4742005599833025e-08,
|
||||
-1.8029038769530764e-06,
|
||||
-2.712641007358468e-08,
|
||||
2.0016294054453288e-07,
|
||||
4.050286942907722e-07
|
||||
],
|
||||
[
|
||||
1.0833345422933693e-08,
|
||||
1.3347903204216446e-08,
|
||||
-1.423219352645422e-07,
|
||||
1.2595150626416901e-09,
|
||||
1.7230680269593344e-09,
|
||||
4.445551447804239e-08
|
||||
2.7088928613095747e-06,
|
||||
2.9816302231200902e-06,
|
||||
-3.208921592765738e-05,
|
||||
2.237739787962445e-07,
|
||||
4.050286942907732e-07,
|
||||
9.793703306119337e-06
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.02418754446382333,
|
||||
0.018214949400490767,
|
||||
0.051220498773795475
|
||||
0.3233655532796328,
|
||||
0.2394720582716155,
|
||||
0.7733162204897694
|
||||
],
|
||||
"tvec_std_m": [
|
||||
3.8581028514722513e-05,
|
||||
2.9511846946418132e-05,
|
||||
0.00021084476393318946
|
||||
0.0005850869992438767,
|
||||
0.00044739573147777446,
|
||||
0.0031294893043625083
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.0007626874807798689,
|
||||
0.0008489790763477742,
|
||||
0.00035025922532159716
|
||||
0.010989660525404944,
|
||||
0.012445042819574278,
|
||||
0.004844640964346519
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
0.7626874807798689,
|
||||
0.8489790763477741,
|
||||
0.35025922532159715
|
||||
10.989660525404943,
|
||||
12.445042819574278,
|
||||
4.844640964346519
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.036331760709423115,
|
||||
"pitch": 0.02896018768320413,
|
||||
"yaw": 0.011944807429600208
|
||||
"roll": 0.532669618958499,
|
||||
"pitch": 0.42398468857728244,
|
||||
"yaw": 0.10265499147381701
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 68,
|
||||
"observed_center_px": [
|
||||
1395.25,
|
||||
942.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1390.0498046875,
|
||||
941.6648559570312
|
||||
],
|
||||
"reprojection_error_px": 5.210983862734984,
|
||||
"confidence": 0.29729413038864677
|
||||
},
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
1234.0,
|
||||
666.0
|
||||
1383.75,
|
||||
882.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1234.3304443359375,
|
||||
665.8429565429688
|
||||
1388.56787109375,
|
||||
884.1957397460938
|
||||
],
|
||||
"reprojection_error_px": 0.36586350808669266,
|
||||
"confidence": 0.2988751797371847
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
1196.0,
|
||||
626.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1196.1064453125,
|
||||
626.8641967773438
|
||||
],
|
||||
"reprojection_error_px": 0.15611376783910083,
|
||||
"confidence": 0.5697620483284124
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
593.75,
|
||||
623.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
593.9148559570312,
|
||||
623.703125
|
||||
],
|
||||
"reprojection_error_px": 0.17139064208319352,
|
||||
"confidence": 0.5768583617164568
|
||||
},
|
||||
{
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
751.0,
|
||||
651.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
750.7487182617188,
|
||||
651.6533813476562
|
||||
],
|
||||
"reprojection_error_px": 0.2692167824901877,
|
||||
"confidence": 0.5593704450665263
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
540.5,
|
||||
639.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
540.5711059570312,
|
||||
638.9446411132812
|
||||
],
|
||||
"reprojection_error_px": 0.0901147239027528,
|
||||
"confidence": 0.5766374039623903
|
||||
"reprojection_error_px": 5.107584082761038,
|
||||
"confidence": 0.46634796204782664
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
1240.5,
|
||||
594.75
|
||||
1400.25,
|
||||
805.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1240.216552734375,
|
||||
594.7891845703125
|
||||
1395.152099609375,
|
||||
804.2342529296875
|
||||
],
|
||||
"reprojection_error_px": 0.28614294144861335,
|
||||
"confidence": 0.21364841201201337
|
||||
"reprojection_error_px": 5.3184657161530575,
|
||||
"confidence": 0.24205987777153554
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
1341.75,
|
||||
844.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1345.5269775390625,
|
||||
840.302001953125
|
||||
],
|
||||
"reprojection_error_px": 5.285900953032883,
|
||||
"confidence": 0.6720101269988878
|
||||
},
|
||||
{
|
||||
"marker_id": 97,
|
||||
"observed_center_px": [
|
||||
491.5,
|
||||
605.25
|
||||
554.75,
|
||||
818.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
491.56536865234375,
|
||||
605.2406616210938
|
||||
552.3075561523438,
|
||||
815.5173950195312
|
||||
],
|
||||
"reprojection_error_px": 0.0660323104989879,
|
||||
"confidence": 0.5705029634947052
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
1197.75,
|
||||
548.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1197.5150146484375,
|
||||
548.5629272460938
|
||||
],
|
||||
"reprojection_error_px": 0.24326519222834797,
|
||||
"confidence": 0.5440516905787338
|
||||
"reprojection_error_px": 3.4826512082036163,
|
||||
"confidence": 0.7144285455619288
|
||||
},
|
||||
{
|
||||
"marker_id": 215,
|
||||
"observed_center_px": [
|
||||
789.0,
|
||||
430.75
|
||||
889.0,
|
||||
620.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
788.9615478515625,
|
||||
430.6828308105469
|
||||
887.28466796875,
|
||||
619.165283203125
|
||||
],
|
||||
"reprojection_error_px": 0.07739681990398141,
|
||||
"confidence": 0.551983363957988
|
||||
"reprojection_error_px": 1.90764674623409,
|
||||
"confidence": 0.7068260740006296
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
610.5,
|
||||
848.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
607.4749145507812,
|
||||
853.4927368164062
|
||||
],
|
||||
"reprojection_error_px": 5.6253617203492166,
|
||||
"confidence": 0.7005026944924987
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
664.75,
|
||||
836.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
667.56298828125,
|
||||
836.3667602539062
|
||||
],
|
||||
"reprojection_error_px": 2.81614202418645,
|
||||
"confidence": 0.6877833343649649
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
598.5,
|
||||
542.75
|
||||
676.0,
|
||||
745.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
598.868408203125,
|
||||
542.796142578125
|
||||
673.193115234375,
|
||||
745.2991943359375
|
||||
],
|
||||
"reprojection_error_px": 0.37128660310575845,
|
||||
"confidence": 0.5459402660246769
|
||||
"reprojection_error_px": 2.8428555774517537,
|
||||
"confidence": 0.6761108765479277
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
1254.25,
|
||||
485.0
|
||||
845.75,
|
||||
863.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1254.0916748046875,
|
||||
484.9971618652344
|
||||
844.1627197265625,
|
||||
867.9298095703125
|
||||
],
|
||||
"reprojection_error_px": 0.1583506314470805,
|
||||
"confidence": 0.06519221426443914
|
||||
"reprojection_error_px": 4.941667358375338,
|
||||
"confidence": 0.6334920995585299
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
1346.5,
|
||||
753.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1347.07373046875,
|
||||
752.1920166015625
|
||||
],
|
||||
"reprojection_error_px": 1.203534595323897,
|
||||
"confidence": 0.63555573802114
|
||||
},
|
||||
{
|
||||
"marker_id": 66,
|
||||
"observed_center_px": [
|
||||
453.0,
|
||||
495.75
|
||||
508.0,
|
||||
693.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
452.8467712402344,
|
||||
495.9134826660156
|
||||
508.7984619140625,
|
||||
692.4354248046875
|
||||
],
|
||||
"reprojection_error_px": 0.22406613958134775,
|
||||
"confidence": 0.5349107016469481
|
||||
"reprojection_error_px": 0.9778990639991935,
|
||||
"confidence": 0.6946666666666667
|
||||
},
|
||||
{
|
||||
"marker_id": 95,
|
||||
"observed_center_px": [
|
||||
548.75,
|
||||
435.0
|
||||
612.5,
|
||||
626.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
548.4963989257812,
|
||||
434.8807373046875
|
||||
616.550048828125,
|
||||
623.8281860351562
|
||||
],
|
||||
"reprojection_error_px": 0.2802447061732053,
|
||||
"confidence": 0.5227826547122322
|
||||
"reprojection_error_px": 4.595614366772631,
|
||||
"confidence": 0.6412938250103973
|
||||
},
|
||||
{
|
||||
"marker_id": 51,
|
||||
"observed_center_px": [
|
||||
659.25,
|
||||
376.25
|
||||
739.25,
|
||||
559.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
659.2869873046875,
|
||||
376.24285888671875
|
||||
741.310791015625,
|
||||
557.947509765625
|
||||
],
|
||||
"reprojection_error_px": 0.03767036244770688,
|
||||
"confidence": 0.5111500432161571
|
||||
"reprojection_error_px": 2.3139998495106826,
|
||||
"confidence": 0.6355340780755219
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
618.0,
|
||||
313.5
|
||||
690.0,
|
||||
487.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
617.798583984375,
|
||||
313.5018615722656
|
||||
694.6463012695312,
|
||||
487.349609375
|
||||
],
|
||||
"reprojection_error_px": 0.20142461816161,
|
||||
"confidence": 0.5046333482067283
|
||||
},
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
1247.5,
|
||||
251.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1247.8360595703125,
|
||||
251.25607299804688
|
||||
],
|
||||
"reprojection_error_px": 0.33611443899942695,
|
||||
"confidence": 0.13607001327160623
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
775.0,
|
||||
150.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
775.3116455078125,
|
||||
150.40562438964844
|
||||
],
|
||||
"reprojection_error_px": 0.32562198692493255,
|
||||
"confidence": 0.46988879526830113
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
562.75,
|
||||
264.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
562.7115478515625,
|
||||
264.1392517089844
|
||||
],
|
||||
"reprojection_error_px": 0.11723374805209077,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
476.25,
|
||||
240.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
476.0595703125,
|
||||
241.0990753173828
|
||||
],
|
||||
"reprojection_error_px": 0.3976393379524452,
|
||||
"confidence": 0.4655541127751829
|
||||
"reprojection_error_px": 4.66352100240104,
|
||||
"confidence": 0.5954680843098741
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
1207.5,
|
||||
261.5
|
||||
1356.75,
|
||||
429.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1207.36083984375,
|
||||
261.3305358886719
|
||||
1358.0069580078125,
|
||||
429.1807861328125
|
||||
],
|
||||
"reprojection_error_px": 0.21927980781584874,
|
||||
"confidence": 0.49001748422717006
|
||||
"reprojection_error_px": 1.2968580980233604,
|
||||
"confidence": 0.6065602887376399
|
||||
},
|
||||
{
|
||||
"marker_id": 101,
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
1162.25,
|
||||
153.5
|
||||
1401.75,
|
||||
418.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1162.341064453125,
|
||||
153.42291259765625
|
||||
1403.525390625,
|
||||
417.8912048339844
|
||||
],
|
||||
"reprojection_error_px": 0.11931136669681776,
|
||||
"confidence": 0.46225891142368675
|
||||
"reprojection_error_px": 1.8768706469818006,
|
||||
"confidence": 0.20623049817079758
|
||||
},
|
||||
{
|
||||
"marker_id": 74,
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
984.0,
|
||||
182.25
|
||||
632.75,
|
||||
428.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
983.996337890625,
|
||||
182.11337280273438
|
||||
632.6746826171875,
|
||||
431.7947692871094
|
||||
],
|
||||
"reprojection_error_px": 0.13667626742684508,
|
||||
"confidence": 0.4548532843889077
|
||||
"reprojection_error_px": 3.5455693487770947,
|
||||
"confidence": 0.5951948697115713
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
538.5,
|
||||
403.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
535.1592407226562,
|
||||
405.8141784667969
|
||||
],
|
||||
"reprojection_error_px": 4.3680971820853,
|
||||
"confidence": 0.5651459847123547
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
872.25,
|
||||
307.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
872.0038452148438,
|
||||
304.0086364746094
|
||||
],
|
||||
"reprojection_error_px": 3.5000302062529935,
|
||||
"confidence": 0.5825378815199377
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
570.5,
|
||||
177.75
|
||||
640.5,
|
||||
337.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
570.462646484375,
|
||||
177.6640625
|
||||
641.4583740234375,
|
||||
334.579345703125
|
||||
],
|
||||
"reprojection_error_px": 0.09370453049771457,
|
||||
"confidence": 0.43211414091114625
|
||||
"reprojection_error_px": 3.312329910967759,
|
||||
"confidence": 0.5461129593472626
|
||||
},
|
||||
{
|
||||
"marker_id": 52,
|
||||
"observed_center_px": [
|
||||
1054.5,
|
||||
160.5
|
||||
1190.75,
|
||||
312.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1054.4666748046875,
|
||||
160.67330932617188
|
||||
1186.0,
|
||||
315.9181213378906
|
||||
],
|
||||
"reprojection_error_px": 0.17648425193417577,
|
||||
"confidence": 0.45818248585417487
|
||||
},
|
||||
{
|
||||
"marker_id": 77,
|
||||
"observed_center_px": [
|
||||
1003.0,
|
||||
87.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1003.1221923828125,
|
||||
87.5596923828125
|
||||
],
|
||||
"reprojection_error_px": 0.3329269445230899,
|
||||
"confidence": 0.422956152719696
|
||||
"reprojection_error_px": 5.852012771734456,
|
||||
"confidence": 0.5743827506632194
|
||||
},
|
||||
{
|
||||
"marker_id": 83,
|
||||
"observed_center_px": [
|
||||
1173.0,
|
||||
64.0
|
||||
1323.0,
|
||||
208.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1172.843994140625,
|
||||
63.96263122558594
|
||||
1319.094970703125,
|
||||
207.36993408203125
|
||||
],
|
||||
"reprojection_error_px": 0.16041899345321103,
|
||||
"confidence": 0.4377857805109236
|
||||
"reprojection_error_px": 4.0652555624962385,
|
||||
"confidence": 0.562745572281817
|
||||
},
|
||||
{
|
||||
"marker_id": 77,
|
||||
"observed_center_px": [
|
||||
1125.5,
|
||||
230.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1128.239013671875,
|
||||
233.71730041503906
|
||||
],
|
||||
"reprojection_error_px": 4.418638711509261,
|
||||
"confidence": 0.5567076120516155
|
||||
},
|
||||
{
|
||||
"marker_id": 75,
|
||||
"observed_center_px": [
|
||||
987.75,
|
||||
42.0
|
||||
1108.5,
|
||||
182.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
987.923095703125,
|
||||
42.024051666259766
|
||||
1111.14013671875,
|
||||
182.54635620117188
|
||||
],
|
||||
"reprojection_error_px": 0.17475870533455345,
|
||||
"confidence": 0.22473325223116958
|
||||
"reprojection_error_px": 2.696076221521005,
|
||||
"confidence": 0.5155640078275618
|
||||
},
|
||||
{
|
||||
"marker_id": 61,
|
||||
"observed_center_px": [
|
||||
1280.25,
|
||||
135.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1281.889892578125,
|
||||
133.5420684814453
|
||||
],
|
||||
"reprojection_error_px": 2.194267982855475,
|
||||
"confidence": 0.5393477003090094
|
||||
}
|
||||
]
|
||||
},
|
||||
|
||||
Reference in New Issue
Block a user