This commit is contained in:
chk
2026-06-01 22:09:49 +02:00
parent 7b32a50889
commit e5b41e9110
49 changed files with 16727 additions and 10772 deletions

File diff suppressed because it is too large Load Diff

File diff suppressed because it is too large Load Diff

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:21Z",
"created_utc": "2026-06-01T19:31:48Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_a.png",
"image_sha256": "c3a12273fee073d0c6657d851a788658f7f8be41da5213cb41556e1a345496f0",
"image_sha256": "13c3d9725fc45f51951fbf4f801ecd0fe13487766016f9fc963056cab744ee8c",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 28,
"num_detected_markers": 29,
"num_rejected_candidates": 22
},
"detections": [
{
"observation_id": "48d34e1f-316c-41b2-b08f-eacad4634407",
"observation_id": "f5421311-616d-471a-b0c3-9e8dfb9bed6d",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.8374556851639195
},
{
"observation_id": "8a4f303b-a202-4e19-9947-5967ce481f35",
"observation_id": "b774f3bf-2154-40d9-896f-210183c3a5ea",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1442.0,
"perimeter_px": 153.1558074951172,
"sharpness": {
"laplacian_var": 3963.3654560364203
"laplacian_var": 3964.4670820526803
},
"contrast": {
"p05": 18.0,
"p95": 189.0,
"dynamic_range": 171.0,
"mean_gray": 78.21849593495935,
"std_gray": 74.72910442487782
"mean_gray": 78.21951219512195,
"std_gray": 74.72969301186929
},
"geometry": {
"distance_to_center_norm": 0.39501953125,
@@ -154,7 +154,7 @@
"confidence": 0.8294132973023032
},
{
"observation_id": "32f7a44e-84f5-486e-82f1-303d7d0c9562",
"observation_id": "c367beba-3186-4848-aec9-6caa81043e9e",
"type": "aruco",
"marker_id": 219,
"marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 1381.5,
"perimeter_px": 152.25673294067383,
"sharpness": {
"laplacian_var": 2891.3887141938194
"laplacian_var": 2891.633318510366
},
"contrast": {
"p05": 22.0,
"p95": 186.0,
"dynamic_range": 164.0,
"mean_gray": 85.78211716341212,
"std_gray": 72.38466254586939
"mean_gray": 85.78314491264132,
"std_gray": 72.38374982708748
},
"geometry": {
"distance_to_center_norm": 0.1749248206615448,
@@ -208,7 +208,7 @@
"confidence": 0.8981552472038941
},
{
"observation_id": "0dcc1d6d-ef68-4a2e-9d29-0f525c5e91c6",
"observation_id": "594ab337-1e9a-4a4c-a0d4-1c0439e07e32",
"type": "aruco",
"marker_id": 218,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 1155.0,
"perimeter_px": 140.67261505126953,
"sharpness": {
"laplacian_var": 2870.240830970594
"laplacian_var": 2870.096302161966
},
"contrast": {
"p05": 22.0,
"p95": 183.0,
"dynamic_range": 161.0,
"mean_gray": 77.27478042659975,
"std_gray": 70.33690945711317
"mean_gray": 77.27603513174404,
"std_gray": 70.33593233907042
},
"geometry": {
"distance_to_center_norm": 0.11692184209823608,
@@ -262,7 +262,7 @@
"confidence": 0.6805707817398313
},
{
"observation_id": "0fc4b5d9-d69f-4f3f-9955-7396c67f5298",
"observation_id": "50433785-cb4b-497c-b25f-14c71373c079",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 1099.0,
"perimeter_px": 137.27795219421387,
"sharpness": {
"laplacian_var": 3137.852646408803
"laplacian_var": 3138.1420520935576
},
"contrast": {
"p05": 13.0,
"p95": 181.0,
"dynamic_range": 168.0,
"mean_gray": 61.855297157622736,
"std_gray": 69.85536731519744
"mean_gray": 61.85271317829457,
"std_gray": 69.8591903185746
},
"geometry": {
"distance_to_center_norm": 0.24669387936592102,
@@ -316,7 +316,7 @@
"confidence": 0.6358432130578832
},
{
"observation_id": "6a37e879-b612-4efe-aeb9-6f2e951a4ba0",
"observation_id": "201e00b9-b20e-4839-a270-245c6325fb40",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 1029.5,
"perimeter_px": 132.67654037475586,
"sharpness": {
"laplacian_var": 4016.545772664153
"laplacian_var": 4029.671922237652
},
"contrast": {
"p05": 10.0,
"p95": 176.0,
"dynamic_range": 166.0,
"mean_gray": 69.51267605633802,
"std_gray": 72.31752544995521
"mean_gray": 69.47183098591549,
"std_gray": 72.31646936706682
},
"geometry": {
"distance_to_center_norm": 0.6501306891441345,
@@ -370,7 +370,7 @@
"confidence": 0.12146268776527554
},
{
"observation_id": "c128e9d6-67a6-401f-8ee2-a42b40745e6a",
"observation_id": "0b9db4d4-0670-47ab-b6dc-36d57d1d7f02",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -424,7 +424,7 @@
"confidence": 0.3676840060581848
},
{
"observation_id": "397fef0c-ee3f-4233-b3a4-9b59955fa904",
"observation_id": "198369f7-2f02-4da7-bf04-a1bab3273f24",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 990.0,
"perimeter_px": 130.19475555419922,
"sharpness": {
"laplacian_var": 3746.5140422551144
"laplacian_var": 3746.505192697592
},
"contrast": {
"p05": 21.0,
"p95": 181.0,
"dynamic_range": 160.0,
"mean_gray": 80.40265486725664,
"std_gray": 68.68934251150314
"std_gray": 68.6860142061246
},
"geometry": {
"distance_to_center_norm": 0.5678059458732605,
@@ -478,7 +478,61 @@
"confidence": 0.46829700346999537
},
{
"observation_id": "bba2b49f-c371-43a6-8bba-c87e16f04ae3",
"observation_id": "b57bc958-bbaf-4151-b932-ab8cb6d6f23b",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
745.0,
555.0
],
[
745.0,
585.0
],
[
715.0,
601.0
],
[
714.0,
571.0
]
],
"center_px": [
729.75,
578.0
],
"quality": {
"area_px": 923.0,
"perimeter_px": 128.90219116210938,
"sharpness": {
"laplacian_var": 3618.1761689600007
},
"contrast": {
"p05": 21.0,
"p95": 179.0,
"dynamic_range": 158.0,
"mean_gray": 92.5024,
"std_gray": 70.11748137404823
},
"geometry": {
"distance_to_center_norm": 0.32105591893196106,
"distance_to_border_px": 119.0
},
"edge_ratio": 1.1628509521484376,
"edge_lengths_px": [
30.0,
34.0,
30.01666259765625,
34.885528564453125
]
},
"confidence": 0.5291592462442996
},
{
"observation_id": "5205fdbf-1d9f-40f9-9c5a-cd0312a6f2c1",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 879.0,
"perimeter_px": 128.5063819885254,
"sharpness": {
"laplacian_var": 2806.1179224194607
"laplacian_var": 2799.6909810796988
},
"contrast": {
"p05": 23.0,
"p95": 176.0,
"dynamic_range": 153.0,
"mean_gray": 78.75726495726495,
"std_gray": 67.15701122460786
"mean_gray": 78.6991452991453,
"std_gray": 67.19189320215645
},
"geometry": {
"distance_to_center_norm": 0.35053613781929016,
@@ -532,7 +586,7 @@
"confidence": 0.4531062923543488
},
{
"observation_id": "c5a773d6-c4c6-490d-be11-c9e5fcb33ae8",
"observation_id": "bf1e30ee-0e71-40a6-a4ec-f8b34b07af00",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -562,14 +616,14 @@
"area_px": 877.0,
"perimeter_px": 127.13765335083008,
"sharpness": {
"laplacian_var": 3414.43585536
"laplacian_var": 3319.7345638399997
},
"contrast": {
"p05": 19.0,
"p95": 178.0,
"dynamic_range": 159.0,
"mean_gray": 80.2752,
"std_gray": 70.19976826856339
"mean_gray": 80.2768,
"std_gray": 70.12511234757488
},
"geometry": {
"distance_to_center_norm": 0.3232363760471344,
@@ -586,7 +640,7 @@
"confidence": 0.5158823529411765
},
{
"observation_id": "8332365e-d9cc-49ad-86e5-dece63b32eab",
"observation_id": "4faba34e-afbf-4b27-997d-160e149819b5",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -616,14 +670,14 @@
"area_px": 922.5,
"perimeter_px": 126.53729057312012,
"sharpness": {
"laplacian_var": 4634.97099635796
"laplacian_var": 4632.298280437045
},
"contrast": {
"p05": 10.0,
"p95": 178.0,
"dynamic_range": 168.0,
"mean_gray": 82.68548387096774,
"std_gray": 72.67803134988525
"mean_gray": 82.68387096774194,
"std_gray": 72.67745844249626
},
"geometry": {
"distance_to_center_norm": 0.18834809958934784,
@@ -640,7 +694,7 @@
"confidence": 0.5036164123338793
},
{
"observation_id": "4e4b0d16-6789-4f9a-b1fb-bc880d1cf9cf",
"observation_id": "b211af11-3c9a-4e75-a708-c34a9b9c8eaf",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 895.0,
"perimeter_px": 125.45559501647949,
"sharpness": {
"laplacian_var": 3889.5816952393966
"laplacian_var": 3899.7599999999998
},
"contrast": {
"p05": 9.0,
"p95": 172.0,
"dynamic_range": 163.0,
"mean_gray": 114.22975206611571,
"std_gray": 68.1999862395809
"mean_gray": 114.24462809917355,
"std_gray": 68.19817737126496
},
"geometry": {
"distance_to_center_norm": 0.8151581883430481,
@@ -694,7 +748,7 @@
"confidence": 0.4560525484643318
},
{
"observation_id": "152a5dac-6010-43da-9ce3-1b60f59bcfdb",
"observation_id": "499ac6e9-8c95-492c-ad91-c864b37c364c",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 862.0,
"perimeter_px": 121.78662872314453,
"sharpness": {
"laplacian_var": 4343.472312915915
"laplacian_var": 4282.376438345293
},
"contrast": {
"p05": 12.0,
"p95": 175.0,
"dynamic_range": 163.0,
"mean_gray": 96.003367003367,
"std_gray": 69.24506319256324
"p05": 12.650000000000002,
"p95": 174.0,
"dynamic_range": 161.35,
"mean_gray": 95.92255892255892,
"std_gray": 69.14814085245463
},
"geometry": {
"distance_to_center_norm": 0.402599573135376,
@@ -748,7 +802,7 @@
"confidence": 0.5734281513866332
},
{
"observation_id": "d6694108-bb92-466d-a0c1-f07c287cb78d",
"observation_id": "ca0f2ea1-d448-4cdd-9f63-44437e35e910",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 834.0,
"perimeter_px": 120.57016181945801,
"sharpness": {
"laplacian_var": 3505.3636360798614
"laplacian_var": 3505.2883198691457
},
"contrast": {
"p05": 11.0,
"p95": 174.0,
"dynamic_range": 163.0,
"mean_gray": 85.90989399293287,
"std_gray": 73.32986612606422
"mean_gray": 85.89752650176679,
"std_gray": 73.32241661548058
},
"geometry": {
"distance_to_center_norm": 0.47566938400268555,
@@ -802,7 +856,7 @@
"confidence": 0.525542829627259
},
{
"observation_id": "37e7cc83-6cf5-4fd5-8764-0b123d1eff82",
"observation_id": "3383af4d-413c-4ed8-9dcd-fed6a2138d79",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -832,14 +886,14 @@
"area_px": 780.0,
"perimeter_px": 118.13776779174805,
"sharpness": {
"laplacian_var": 2271.36157795672
"laplacian_var": 2266.6107862682425
},
"contrast": {
"p05": 11.0,
"p95": 172.0,
"dynamic_range": 161.0,
"mean_gray": 41.5606936416185,
"std_gray": 54.68758419801349
"mean_gray": 41.554913294797686,
"std_gray": 54.67758335306706
},
"geometry": {
"distance_to_center_norm": 0.47894710302352905,
@@ -856,7 +910,7 @@
"confidence": 0.5038606541951498
},
{
"observation_id": "5c384a47-63b5-4314-a58f-69d37e107791",
"observation_id": "ee794cb3-a30f-42e1-8cbe-3ba04758d494",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -886,14 +940,14 @@
"area_px": 772.0,
"perimeter_px": 118.03386306762695,
"sharpness": {
"laplacian_var": 2190.767798350912
"laplacian_var": 2197.299734863936
},
"contrast": {
"p05": 9.0,
"p95": 169.0,
"dynamic_range": 160.0,
"mean_gray": 38.036259541984734,
"std_gray": 54.093400831246406
"mean_gray": 38.030534351145036,
"std_gray": 54.0949390094122
},
"geometry": {
"distance_to_center_norm": 0.7464743256568909,
@@ -910,7 +964,7 @@
"confidence": 0.43622925667631085
},
{
"observation_id": "a847e666-a038-420b-a83a-879ad7d63152",
"observation_id": "c273e0d8-59ae-42be-9b47-abd58512b8d0",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -964,7 +1018,7 @@
"confidence": 0.29844141482805986
},
{
"observation_id": "a32a483d-ab92-454b-b9fa-4139156f1194",
"observation_id": "4850108a-90e0-4ab7-a93d-601c50e389e1",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -994,14 +1048,14 @@
"area_px": 624.5,
"perimeter_px": 108.51360702514648,
"sharpness": {
"laplacian_var": 2987.4718255934417
"laplacian_var": 2988.1608636247615
},
"contrast": {
"p05": 9.0,
"p95": 167.0,
"dynamic_range": 158.0,
"mean_gray": 100.80536912751678,
"std_gray": 63.65658822124298
"mean_gray": 100.80760626398211,
"std_gray": 63.66198937113582
},
"geometry": {
"distance_to_center_norm": 0.7988508939743042,
@@ -1018,7 +1072,7 @@
"confidence": 0.2521714913889437
},
{
"observation_id": "1f45aa9a-b74c-4ae9-90c5-461c5224749b",
"observation_id": "50e71d4d-bf0b-481c-9d91-1b310842f952",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -1048,14 +1102,14 @@
"area_px": 580.0,
"perimeter_px": 104.17594909667969,
"sharpness": {
"laplacian_var": 2399.2309231751287
"laplacian_var": 2400.1230095060646
},
"contrast": {
"p05": 10.0,
"p95": 167.0,
"dynamic_range": 157.0,
"mean_gray": 64.25419664268586,
"std_gray": 62.585941969968665
"mean_gray": 64.24700239808153,
"std_gray": 62.58495537823318
},
"geometry": {
"distance_to_center_norm": 0.733877956867218,
@@ -1072,7 +1126,7 @@
"confidence": 0.31777455864589965
},
{
"observation_id": "b640bb03-e99e-4e70-bfea-cb1110bb6d3f",
"observation_id": "28c9d358-de4c-4aa4-bd07-74662cc5bca3",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -1102,14 +1156,14 @@
"area_px": 526.0,
"perimeter_px": 100.42813110351562,
"sharpness": {
"laplacian_var": 2729.218425246583
"laplacian_var": 2729.126284325174
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 71.00271002710028,
"std_gray": 60.624594481698495
"mean_gray": 71.00542005420054,
"std_gray": 60.6221580041796
},
"geometry": {
"distance_to_center_norm": 0.6100193858146667,
@@ -1126,7 +1180,7 @@
"confidence": 0.3029173397022545
},
{
"observation_id": "4d1e838c-bbd3-4249-a4e5-7cd8394dd041",
"observation_id": "d13e5ca2-ecd0-48a6-ab04-94bf87a307eb",
"type": "aruco",
"marker_id": 61,
"marker_size_m": 0.025,
@@ -1156,14 +1210,14 @@
"area_px": 541.0,
"perimeter_px": 99.51516723632812,
"sharpness": {
"laplacian_var": 3823.2999479708633
"laplacian_var": 3821.75156087409
},
"contrast": {
"p05": 9.55,
"p95": 168.0,
"dynamic_range": 158.45,
"mean_gray": 100.15322580645162,
"std_gray": 64.30693925099166
"mean_gray": 100.15053763440861,
"std_gray": 64.3063394651715
},
"geometry": {
"distance_to_center_norm": 0.7955067753791809,
@@ -1180,7 +1234,7 @@
"confidence": 0.1527342148240039
},
{
"observation_id": "b14c4e71-1615-40b5-8804-685b2c388538",
"observation_id": "bcc983c9-b18f-4a70-827b-9693780c0317",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
@@ -1234,7 +1288,7 @@
"confidence": 0.19743498130596515
},
{
"observation_id": "c51fa6c5-c5b5-4593-aedf-6c3736e772d6",
"observation_id": "053ef261-e27d-4bff-b1ba-ec11facb22ca",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -1288,7 +1342,7 @@
"confidence": 0.2849187633475991
},
{
"observation_id": "669db1c5-a779-4ad8-b2fc-b937f0f1136e",
"observation_id": "386668e3-65d2-412f-9fb1-f7a2912ad6c9",
"type": "aruco",
"marker_id": 207,
"marker_size_m": 0.025,
@@ -1342,7 +1396,7 @@
"confidence": 0.24627951083020566
},
{
"observation_id": "665e11e6-4483-4ec9-80f3-a411f7460e8b",
"observation_id": "f8df1c99-5941-4350-abc9-c538499d20c4",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -1396,7 +1450,7 @@
"confidence": 0.1970529186973567
},
{
"observation_id": "e1266e51-667e-42cf-826e-544bfc399a32",
"observation_id": "b88eced0-bfa9-40e7-997d-8b8a5fb66e4b",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -1450,7 +1504,7 @@
"confidence": 0.1988568274481309
},
{
"observation_id": "6465eb50-c9fb-4e8c-8c8c-8676a576f05d",
"observation_id": "8f15be1a-b043-4150-83b6-235d83cf0a91",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -1480,14 +1534,14 @@
"area_px": 383.5,
"perimeter_px": 85.33429336547852,
"sharpness": {
"laplacian_var": 2860.0309348543824
"laplacian_var": 2859.1179198622835
},
"contrast": {
"p05": 10.0,
"p95": 154.09999999999997,
"dynamic_range": 144.09999999999997,
"mean_gray": 80.68817204301075,
"std_gray": 58.922398117221775
"mean_gray": 80.68458781362007,
"std_gray": 58.92648490008177
},
"geometry": {
"distance_to_center_norm": 0.20417363941669464,
@@ -1504,7 +1558,7 @@
"confidence": 0.17646704338372862
},
{
"observation_id": "952a6f64-3139-468b-9899-03cd9365b71c",
"observation_id": "1d1723c0-3a17-4a13-89f6-78da722dbbf5",
"type": "aruco",
"marker_id": 93,
"marker_size_m": 0.025,
@@ -1534,14 +1588,14 @@
"area_px": 250.5,
"perimeter_px": 72.85183525085449,
"sharpness": {
"laplacian_var": 2769.4730328449905
"laplacian_var": 2770.26651110586
},
"contrast": {
"p05": 12.0,
"p95": 141.24999999999997,
"dynamic_range": 129.24999999999997,
"mean_gray": 71.8695652173913,
"std_gray": 45.57989101597716
"mean_gray": 71.86413043478261,
"std_gray": 45.58363093289591
},
"geometry": {
"distance_to_center_norm": 0.6914032101631165,

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:26Z",
"created_utc": "2026-06-01T19:31:54Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -63,153 +63,150 @@
0,
1,
2,
3,
4
3
],
"rms": [
0.01688824416861389,
0.0026488948713162797,
0.0022847901177283567,
0.002284778536088292,
0.0022847785345118145
0.0131178369174392,
0.0009341199664057974,
8.951705924749629e-05,
8.94417650683531e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
0.000125
]
},
"residual_rms_px": 5.260777163796182,
"residual_median_px": 3.9336177789442863,
"residual_max_px": 9.206418967088428,
"sigma2_normalized": 6.199002880217139e-06
"residual_rms_px": 0.22486813889140916,
"residual_median_px": 0.18397634606650567,
"residual_max_px": 0.3724964147453616,
"sigma2_normalized": 9.499797337176313e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8034524321556091,
-0.5953208208084106,
0.0075734867714345455
0.8080857992172241,
-0.5890647768974304,
0.00012329929450061172
],
[
-0.40606069564819336,
-0.5572388172149658,
-0.7242924571037292
-0.34312477707862854,
-0.4708726704120636,
-0.8127387762069702
],
[
0.4354065954685211,
0.578859269618988,
-0.689451277256012
0.4788138270378113,
0.6567203998565674,
-0.5826282501220703
]
],
"translation_m": [
-0.22647301852703094,
0.20879590511322021,
1.1456412076950073
-0.2288946509361267,
0.17077213525772095,
1.1346648931503296
],
"rvec_rad": [
2.2371428918604392,
-0.7344684570702414,
0.32490605356533975
2.106185216693216,
-0.6861101939267267,
0.35250732520318495
]
},
"camera_in_world": {
"position_m": [
-0.23207563161849976,
-0.6816399693489075,
0.9428082704544067
-0.2997305691242218,
-0.7995794415473938,
0.7999091744422913
],
"position_mm": [
-232.0756378173828,
-681.6399536132812,
942.8082885742188
-299.7305603027344,
-799.5794677734375,
799.9091796875
],
"orientation_deg": {
"roll": 139.98336791992188,
"pitch": -25.811166763305664,
"yaw": -26.81179428100586
"roll": 131.5787353515625,
"pitch": -28.607959747314453,
"yaw": -23.006771087646484
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.097591089411523e-05,
-1.3516690365163344e-05,
3.233947921489375e-06,
2.8375694519427413e-06,
6.358422974851678e-06,
1.0788754679638468e-05
4.725506079709479e-08,
-1.4448456889719837e-08,
5.265136212888318e-10,
2.722298041827284e-09,
7.53026534167571e-09,
1.2450714858253565e-08
],
[
-1.3516690365163376e-05,
1.6114384837211145e-05,
-8.778002475074104e-06,
-3.914652718179436e-06,
-4.423000384742518e-06,
-1.9181520799013528e-06
-1.4448456889719758e-08,
2.2837558761749823e-08,
-1.1460083508985997e-08,
-5.508227074743783e-09,
-5.8880035311381874e-09,
-1.3528112509188459e-09
],
[
3.233947921489427e-06,
-8.77800247507413e-06,
5.513946330528815e-05,
8.433095193903186e-06,
-4.2346249444135545e-06,
-1.2253759154226465e-05
5.265136212888815e-10,
-1.1460083508985972e-08,
6.239306541506652e-08,
1.0355154189007053e-08,
-5.815770856622252e-09,
-1.3726290750827155e-08
],
[
2.8375694519427536e-06,
-3.914652718179437e-06,
8.433095193903184e-06,
2.3821183334401835e-06,
3.118681673870334e-07,
-3.036440640129871e-07
2.7222980418272523e-09,
-5.508227074743793e-09,
1.0355154189007066e-08,
3.3402069932845572e-09,
3.4570957056390385e-10,
-1.3438803779469233e-10
],
[
6.358422974851689e-06,
-4.42300038474252e-06,
-4.234624944413562e-06,
3.1186816738703346e-07,
2.862874214018809e-06,
3.601866363327852e-06
7.53026534167568e-09,
-5.888003531138191e-09,
-5.815770856622249e-09,
3.457095705639007e-10,
4.015498098287062e-09,
4.351808075832758e-09
],
[
1.0788754679638462e-05,
-1.9181520799013405e-06,
-1.2253759154226542e-05,
-3.0364406401299863e-07,
3.6018663633278545e-06,
1.615160848576946e-05
1.2450714858253541e-08,
-1.352811250918863e-09,
-1.3726290750827138e-08,
-1.3438803779471994e-10,
4.351808075832763e-09,
2.2800767090605303e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.3667642028343509,
0.23000088015077183,
0.42545526236590314
0.012455087862190848,
0.00865859589782539,
0.014311685831560112
],
"tvec_std_m": [
0.0015434112651656342,
0.001692003018324379,
0.00401890637932379
5.7794523903952674e-05,
6.33679579778855e-05,
0.00015099922877486924
]
},
"camera_center_std_m": [
0.006748912533574303,
0.007725868343634181,
0.007397731347808048
0.00024428411078409196,
0.0002285529411788333,
0.00026910378406871965
],
"camera_center_std_mm": [
6.748912533574303,
7.725868343634182,
7.397731347808048
0.24428411078409196,
0.2285529411788333,
0.26910378406871965
],
"orientation_std_deg": {
"roll": 0.4950206613769511,
"pitch": 0.3279056973051422,
"yaw": 0.2131206805888579
"roll": 0.016652729804608957,
"pitch": 0.010828326359105016,
"yaw": 0.008523918789196061
}
}
},
@@ -222,10 +219,10 @@
690.75
],
"projected_center_px": [
981.2843627929688,
684.5106811523438
983.9112548828125,
690.8365478515625
],
"reprojection_error_px": 6.908263437829121,
"reprojection_error_px": 0.3496266366117685,
"confidence": 0.12146268776527554
},
{
@@ -235,10 +232,10 @@
632.0
],
"projected_center_px": [
331.15069580078125,
637.7987670898438
324.11248779296875,
632.0796508789062
],
"reprojection_error_px": 9.206418967088428,
"reprojection_error_px": 0.13783238399417774,
"confidence": 0.46829700346999537
},
{
@@ -248,10 +245,10 @@
610.25
],
"projected_center_px": [
1179.2086181640625,
606.8020629882812
1183.8814697265625,
610.300048828125
],
"reprojection_error_px": 5.701966206192657,
"reprojection_error_px": 0.14067399972668834,
"confidence": 0.4560525484643318
},
{
@@ -261,10 +258,10 @@
599.0
],
"projected_center_px": [
815.020751953125,
596.3807373046875
814.2566528320312,
598.9811401367188
],
"reprojection_error_px": 2.811133511035042,
"reprojection_error_px": 0.25734484769011495,
"confidence": 0.5734281513866332
},
{
@@ -274,10 +271,10 @@
587.25
],
"projected_center_px": [
904.92529296875,
584.64599609375
905.1769409179688,
587.0193481445312
],
"reprojection_error_px": 2.624170535599477,
"reprojection_error_px": 0.2419460846933177,
"confidence": 0.525542829627259
},
{
@@ -287,10 +284,10 @@
557.5
],
"projected_center_px": [
930.7962036132812,
555.8448486328125
931.0717163085938,
557.4616088867188
],
"reprojection_error_px": 1.6676507474715048,
"reprojection_error_px": 0.08134559912673672,
"confidence": 0.5038606541951498
},
{
@@ -300,10 +297,10 @@
560.25
],
"projected_center_px": [
1147.2882080078125,
558.3479614257812
1150.079833984375,
560.2962036132812
],
"reprojection_error_px": 3.5199378606449994,
"reprojection_error_px": 0.1763271015865997,
"confidence": 0.43622925667631085
},
{
@@ -313,10 +310,10 @@
514.75
],
"projected_center_px": [
129.98768615722656,
514.7237548828125
128.47219848632812,
514.6799926757812
],
"reprojection_error_px": 1.4879176417328084,
"reprojection_error_px": 0.07532562383888124,
"confidence": 0.29844141482805986
},
{
@@ -326,10 +323,10 @@
461.5
],
"projected_center_px": [
1217.2900390625,
461.2925720214844
1217.8155517578125,
461.4322814941406
],
"reprojection_error_px": 0.5045695495141949,
"reprojection_error_px": 0.09424876120212329,
"confidence": 0.2521714913889437
},
{
@@ -339,10 +336,10 @@
437.75
],
"projected_center_px": [
1173.5399169921875,
438.0331115722656
1173.1402587890625,
437.9232482910156
],
"reprojection_error_px": 0.4052209578856468,
"reprojection_error_px": 0.20508072488135876,
"confidence": 0.31777455864589965
},
{
@@ -352,10 +349,10 @@
347.0
],
"projected_center_px": [
1091.2442626953125,
354.3226623535156
1087.9361572265625,
347.0196838378906
],
"reprojection_error_px": 8.113646265856527,
"reprojection_error_px": 0.18719499586139143,
"confidence": 0.3029173397022545
},
{
@@ -365,10 +362,10 @@
415.5
],
"projected_center_px": [
54.10175704956055,
416.18798828125
58.67189025878906,
415.5655822753906
],
"reprojection_error_px": 4.4517265107177995,
"reprojection_error_px": 0.18397634606650567,
"confidence": 0.1527342148240039
},
{
@@ -378,10 +375,10 @@
383.0
],
"projected_center_px": [
133.5531005859375,
383.4892272949219
138.93443298339844,
383.04705810546875
],
"reprojection_error_px": 5.468825886148779,
"reprojection_error_px": 0.08070625103632043,
"confidence": 0.19743498130596515
},
{
@@ -391,10 +388,10 @@
301.0
],
"projected_center_px": [
1017.0421142578125,
307.5049133300781
1013.370361328125,
300.9601745605469
],
"reprojection_error_px": 7.6584975749189335,
"reprojection_error_px": 0.3724964147453616,
"confidence": 0.2849187633475991
},
{
@@ -404,10 +401,10 @@
262.0
],
"projected_center_px": [
1103.2645263671875,
267.52166748046875
1097.9564208984375,
261.8399658203125
],
"reprojection_error_px": 7.629157858877907,
"reprojection_error_px": 0.16586161931334725,
"confidence": 0.24627951083020566
},
{
@@ -417,10 +414,10 @@
300.75
],
"projected_center_px": [
654.464599609375,
299.97552490234375
655.5089721679688,
300.48992919921875
],
"reprojection_error_px": 1.500688455712431,
"reprojection_error_px": 0.35458600823028125,
"confidence": 0.1970529186973567
},
{
@@ -430,10 +427,10 @@
279.75
],
"projected_center_px": [
576.6786499023438,
278.639404296875
579.1873168945312,
279.58905029296875
],
"reprojection_error_px": 2.80093986735105,
"reprojection_error_px": 0.17272515712730338,
"confidence": 0.1988568274481309
},
{
@@ -443,10 +440,10 @@
278.75
],
"projected_center_px": [
510.1328430175781,
278.02996826171875
513.7523193359375,
279.0245666503906
],
"reprojection_error_px": 3.9336177789442863,
"reprojection_error_px": 0.3697736562509134,
"confidence": 0.17646704338372862
},
{
@@ -456,10 +453,10 @@
154.5
],
"projected_center_px": [
1111.6312255859375,
150.52688598632812
1104.2423095703125,
154.7158966064453
],
"reprojection_error_px": 8.38260855081127,
"reprojection_error_px": 0.2160335330067546,
"confidence": 0.15396639291733288
}
]

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:22Z",
"created_utc": "2026-06-01T19:31:49Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_b.png",
"image_sha256": "568c1517f3d5b2281813b7ce6923a00a468d9b99448ed9e25967f426d8805035",
"image_sha256": "48595f228e2f117251ebd8b9ca65d69583997da7f10da700ef392c8b23388302",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 43,
"num_rejected_candidates": 11
"num_detected_markers": 44,
"num_rejected_candidates": 12
},
"detections": [
{
"observation_id": "c78e63e3-caad-4650-97c4-6d953036f7ab",
"observation_id": "522bdd9a-9071-4e33-b3fb-b1490bc6f3fd",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.7925285650886857
},
{
"observation_id": "1bbceeb3-7583-4585-a24f-0bdc472825ff",
"observation_id": "01beb2e5-9c64-49bf-9e86-c40e2b8b75e6",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 856.0,
"perimeter_px": 118.77051544189453,
"sharpness": {
"laplacian_var": 2510.0696267334406
"laplacian_var": 2510.105457352333
},
"contrast": {
"p05": 8.0,
"p95": 163.35000000000002,
"dynamic_range": 155.35000000000002,
"mean_gray": 46.51791530944625,
"std_gray": 60.64433214292356
"mean_gray": 46.51954397394137,
"std_gray": 60.643311103129896
},
"geometry": {
"distance_to_center_norm": 0.9324730634689331,
@@ -154,7 +154,7 @@
"confidence": 0.1539593300495616
},
{
"observation_id": "ccaf4f90-f7bc-42df-86b1-6c1fa3deb7b7",
"observation_id": "37c296b7-1d41-40ab-bcfd-785da8eaa730",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 850.5,
"perimeter_px": 117.09248542785645,
"sharpness": {
"laplacian_var": 3020.161253731177
"laplacian_var": 3020.4483989732466
},
"contrast": {
"p05": 14.0,
"p95": 181.0,
"dynamic_range": 167.0,
"mean_gray": 64.72954924874792,
"std_gray": 70.24453099842822
"mean_gray": 64.72787979966611,
"std_gray": 70.24237367224117
},
"geometry": {
"distance_to_center_norm": 0.31911706924438477,
@@ -208,7 +208,7 @@
"confidence": 0.4787342723608016
},
{
"observation_id": "44ddd894-bd0d-4b7a-92e4-860d5d3deee9",
"observation_id": "2597f8ae-39a9-4e97-a082-f8661b6230f1",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 823.5,
"perimeter_px": 115.75374794006348,
"sharpness": {
"laplacian_var": 3068.437601757558
"laplacian_var": 3067.4495268001474
},
"contrast": {
"p05": 9.0,
"p95": 167.0,
"dynamic_range": 158.0,
"mean_gray": 93.33560477001704,
"std_gray": 69.6369128781312
"mean_gray": 93.34241908006814,
"std_gray": 69.63832304900947
},
"geometry": {
"distance_to_center_norm": 0.7275234460830688,
@@ -262,7 +262,7 @@
"confidence": 0.39637168760361213
},
{
"observation_id": "e7834e37-252d-441c-b9c0-9f8cb72c7ff2",
"observation_id": "d5fdb84b-a907-4f71-b574-2a3ae1112404",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 819.5,
"perimeter_px": 115.6167049407959,
"sharpness": {
"laplacian_var": 3118.9964697879527
"laplacian_var": 3118.427976637268
},
"contrast": {
"p05": 16.0,
"p95": 182.0,
"dynamic_range": 166.0,
"mean_gray": 73.7568493150685,
"std_gray": 71.36479544165562
"mean_gray": 73.75856164383562,
"std_gray": 71.36733257993441
},
"geometry": {
"distance_to_center_norm": 0.6832876801490784,
@@ -316,7 +316,7 @@
"confidence": 0.4633649853376546
},
{
"observation_id": "8c74ab86-3679-4555-bb0b-44c6cb87461b",
"observation_id": "fc6288c8-f9e7-42c9-968b-b519bb0992ad",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 820.0,
"perimeter_px": 115.4936294555664,
"sharpness": {
"laplacian_var": 3344.2153312066052
"laplacian_var": 3341.321495590167
},
"contrast": {
"p05": 17.0,
"p95": 181.0,
"dynamic_range": 164.0,
"mean_gray": 76.4263698630137,
"std_gray": 70.993353368034
"mean_gray": 76.40582191780823,
"std_gray": 70.9886738530897
},
"geometry": {
"distance_to_center_norm": 0.6174793243408203,
@@ -370,7 +370,7 @@
"confidence": 0.3638956157928849
},
{
"observation_id": "e4542236-25af-4e65-be63-85e78ee7acd9",
"observation_id": "97a3c472-5aeb-4f63-87ef-de24238d3691",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 775.0,
"perimeter_px": 115.39799880981445,
"sharpness": {
"laplacian_var": 2028.6156649107584
"laplacian_var": 2030.046404948709
},
"contrast": {
"p05": 18.0,
"p95": 166.0,
"dynamic_range": 148.0,
"mean_gray": 56.27324478178368,
"std_gray": 58.54022203027371
"std_gray": 58.54171306349663
},
"geometry": {
"distance_to_center_norm": 0.09534377604722977,
@@ -424,7 +424,7 @@
"confidence": 0.33787297122479
},
{
"observation_id": "a1f6675f-9f20-41ab-ae0e-c59d83bd42af",
"observation_id": "3a16cc10-0e2c-4d48-a8fc-48f574c05c68",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -478,7 +478,7 @@
"confidence": 0.46896024883690896
},
{
"observation_id": "84a1bfed-885f-4b52-859f-3f8d5e86bcb1",
"observation_id": "eaa4c82b-3ee4-4721-a637-3f55159dfa05",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -508,14 +508,14 @@
"area_px": 793.0,
"perimeter_px": 113.09603309631348,
"sharpness": {
"laplacian_var": 2691.8984624476916
"laplacian_var": 2692.3726157453743
},
"contrast": {
"p05": 12.0,
"p95": 174.0,
"dynamic_range": 162.0,
"mean_gray": 82.48306595365419,
"std_gray": 73.17152082688077
"mean_gray": 82.47058823529412,
"std_gray": 73.1507096243694
},
"geometry": {
"distance_to_center_norm": 0.3796437680721283,
@@ -532,7 +532,7 @@
"confidence": 0.44372569385651617
},
{
"observation_id": "b0ae235c-38bf-4950-8cc1-dd40370935c1",
"observation_id": "d9f6ab66-9d90-44c9-b6ce-be20de07fe90",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 780.0,
"perimeter_px": 112.15361785888672,
"sharpness": {
"laplacian_var": 3213.1411603305787
"laplacian_var": 3213.3631867768595
},
"contrast": {
"p05": 18.0,
"p95": 181.0,
"dynamic_range": 163.0,
"mean_gray": 114.31818181818181,
"std_gray": 72.21023999635078
"mean_gray": 114.29818181818182,
"std_gray": 72.19976200139341
},
"geometry": {
"distance_to_center_norm": 0.5115378499031067,
@@ -586,7 +586,7 @@
"confidence": 0.45199802144368495
},
{
"observation_id": "03a035ff-f9a8-4ebf-b2aa-d284dd5cace6",
"observation_id": "4957b962-9689-473c-b4f1-ff8f282b9946",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 767.0,
"perimeter_px": 111.09603309631348,
"sharpness": {
"laplacian_var": 2064.978862113238
"laplacian_var": 2066.411144116949
},
"contrast": {
"p05": 11.0,
"p95": 172.0,
"dynamic_range": 161.0,
"mean_gray": 39.539888682745826,
"std_gray": 53.834383085663326
"mean_gray": 39.53617810760668,
"std_gray": 53.84082987860157
},
"geometry": {
"distance_to_center_norm": 0.38394394516944885,
@@ -640,7 +640,7 @@
"confidence": 0.44348322079976393
},
{
"observation_id": "b30718cb-749b-47ca-8d8a-bff1e0a74848",
"observation_id": "c5da39f6-dc0e-4952-b6b5-3bae49ae7748",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
@@ -670,14 +670,14 @@
"area_px": 767.0,
"perimeter_px": 111.09603309631348,
"sharpness": {
"laplacian_var": 3683.7976462975134
"laplacian_var": 3687.600607185023
},
"contrast": {
"p05": 17.0,
"p95": 180.0,
"dynamic_range": 163.0,
"mean_gray": 76.84786641929499,
"std_gray": 70.00060329777635
"mean_gray": 76.78849721706865,
"std_gray": 70.0189993919454
},
"geometry": {
"distance_to_center_norm": 0.4236999452114105,
@@ -694,7 +694,7 @@
"confidence": 0.44348322079976393
},
{
"observation_id": "35ab7717-b6a7-427a-9786-a201208573a9",
"observation_id": "2597babb-7e75-4619-9eab-49c9c5f769a2",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 644.0,
"perimeter_px": 110.04388618469238,
"sharpness": {
"laplacian_var": 3798.706947768898
"laplacian_var": 3800.8725528644395
},
"contrast": {
"p05": 19.0,
"p95": 190.0,
"dynamic_range": 171.0,
"mean_gray": 75.27813163481953,
"std_gray": 71.48198538898035
"mean_gray": 75.28025477707007,
"std_gray": 71.48457595530982
},
"geometry": {
"distance_to_center_norm": 0.2873735725879669,
@@ -748,7 +748,7 @@
"confidence": 0.24113570084112637
},
{
"observation_id": "b67c9edd-1ea1-4d69-a7fd-d3fe404dec6a",
"observation_id": "68fe9098-45aa-4251-ab30-2a5d1e19fb35",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -778,14 +778,14 @@
"area_px": 752.5,
"perimeter_px": 110.03665542602539,
"sharpness": {
"laplacian_var": 4326.625782534791
"laplacian_var": 4331.039762441095
},
"contrast": {
"p05": 12.0,
"p95": 175.0,
"dynamic_range": 163.0,
"mean_gray": 93.38289962825279,
"std_gray": 70.36858778062124
"p95": 174.0,
"dynamic_range": 162.0,
"mean_gray": 93.27881040892193,
"std_gray": 70.34701794604273
},
"geometry": {
"distance_to_center_norm": 0.3251786530017853,
@@ -802,7 +802,7 @@
"confidence": 0.41815762699787656
},
{
"observation_id": "f3ab75a9-e24a-4ff4-9534-fdf5d2c4fe53",
"observation_id": "ac028b5c-cbdb-43bb-ae95-49c6d8ab0f2b",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 720.0,
"perimeter_px": 109.47726821899414,
"sharpness": {
"laplacian_var": 3340.787244
"laplacian_var": 3341.655244
},
"contrast": {
"p05": 8.0,
"p95": 163.0,
"dynamic_range": 155.0,
"mean_gray": 71.462,
"std_gray": 65.93688312318076
"mean_gray": 71.464,
"std_gray": 65.93867381135293
},
"geometry": {
"distance_to_center_norm": 0.7617100477218628,
@@ -856,7 +856,7 @@
"confidence": 0.3958181457519531
},
{
"observation_id": "5f7c5a31-c8e7-4a87-81b8-f1fa2218786a",
"observation_id": "a22dcb17-7961-4007-9865-b29213ac7ee3",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.3918555899450243
},
{
"observation_id": "d8854b7d-9151-46d1-82e6-f58f2a5b1a0c",
"observation_id": "3c10c448-613d-4cc2-8fd0-dca44dc63770",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 713.0,
"perimeter_px": 108.02763557434082,
"sharpness": {
"laplacian_var": 3238.8223909587105
"laplacian_var": 3239.3608524971723
},
"contrast": {
"p05": 8.0,
"p95": 166.0,
"dynamic_range": 158.0,
"mean_gray": 65.9089068825911,
"std_gray": 65.98157792233286
"mean_gray": 65.90688259109312,
"std_gray": 65.98330847391902
},
"geometry": {
"distance_to_center_norm": 0.6017478704452515,
@@ -964,7 +964,7 @@
"confidence": 0.4015868133874269
},
{
"observation_id": "5ee65273-d7d2-4b06-be24-fa05dd7e6c79",
"observation_id": "7eab9e7e-8d24-433f-9d54-6f8f8bea7df2",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 708.0,
"perimeter_px": 107.02082443237305,
"sharpness": {
"laplacian_var": 2048.89
"laplacian_var": 2046.862784
},
"contrast": {
"p05": 6.950000000000003,
"p05": 6.0,
"p95": 145.0,
"dynamic_range": 138.05,
"mean_gray": 54.538,
"std_gray": 57.331497067493366
"dynamic_range": 139.0,
"mean_gray": 54.514,
"std_gray": 57.331089332054376
},
"geometry": {
"distance_to_center_norm": 0.21091137826442719,
@@ -1018,7 +1018,7 @@
"confidence": 0.3776
},
{
"observation_id": "e7095cb9-07de-41f4-84af-f772a83a6686",
"observation_id": "18589f9f-2bf1-461b-a484-3e054e0374bc",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 651.0,
"perimeter_px": 103.4156665802002,
"sharpness": {
"laplacian_var": 3431.610443874873
"laplacian_var": 3432.1838073060244
},
"contrast": {
"p05": 15.100000000000001,
"p95": 181.0,
"dynamic_range": 165.9,
"mean_gray": 80.16027088036117,
"std_gray": 69.74092043896324
"mean_gray": 80.15801354401806,
"std_gray": 69.74291616013058
},
"geometry": {
"distance_to_center_norm": 0.48814597725868225,
@@ -1072,7 +1072,7 @@
"confidence": 0.3320910299473707
},
{
"observation_id": "c2de495a-74a8-4acb-b33f-d0c7df3ace75",
"observation_id": "9e8f729f-632e-45eb-a40a-0d03e808ec6b",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 655.5,
"perimeter_px": 103.021728515625,
"sharpness": {
"laplacian_var": 1947.4648823886976
"laplacian_var": 1943.6184494096408
},
"contrast": {
"p05": 6.0,
"p95": 142.0,
"dynamic_range": 136.0,
"mean_gray": 69.20171673819742,
"std_gray": 58.61387139406158
"mean_gray": 69.1716738197425,
"std_gray": 58.5903847832033
},
"geometry": {
"distance_to_center_norm": 0.11143215000629425,
@@ -1126,7 +1126,7 @@
"confidence": 0.3465862068965517
},
{
"observation_id": "771ab1ef-09b2-4c1f-b8b6-81ebb9ddf83c",
"observation_id": "ca44becc-afbe-447e-b3c1-c9aa3a3c2759",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.3579602826436361
},
{
"observation_id": "fe84711c-552f-471a-ba9e-61e529b48828",
"observation_id": "3abdcd40-500b-41b4-8c91-2485d69a35e6",
"type": "aruco",
"marker_id": 207,
"marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 633.0,
"perimeter_px": 102.5910873413086,
"sharpness": {
"laplacian_var": 2925.664248727186
"laplacian_var": 2928.0651811281186
},
"contrast": {
"p05": 8.0,
"p95": 162.0,
"dynamic_range": 154.0,
"mean_gray": 66.4918414918415,
"std_gray": 64.94141561881966
"mean_gray": 66.48717948717949,
"std_gray": 64.9448605912703
},
"geometry": {
"distance_to_center_norm": 0.7160782814025879,
@@ -1234,7 +1234,61 @@
"confidence": 0.343462485354258
},
{
"observation_id": "f9b1e73d-de29-4435-bebd-aeb7ba101800",
"observation_id": "9d0ebea8-73b6-4696-a4d6-30020a5e61da",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
541.0,
556.0
],
[
542.0,
574.0
],
[
510.0,
574.0
],
[
509.0,
556.0
]
],
"center_px": [
525.5,
565.0
],
"quality": {
"area_px": 576.0,
"perimeter_px": 100.05551147460938,
"sharpness": {
"laplacian_var": 4034.890480538091
},
"contrast": {
"p05": 26.0,
"p95": 178.0,
"dynamic_range": 152.0,
"mean_gray": 93.29567307692308,
"std_gray": 66.76895136134101
},
"geometry": {
"distance_to_center_norm": 0.31977149844169617,
"distance_to_border_px": 146.0
},
"edge_ratio": 1.7750406909376224,
"edge_lengths_px": [
18.027755737304688,
32.0,
18.027755737304688,
32.0
]
},
"confidence": 0.21633306884765627
},
{
"observation_id": "141efd7b-5c73-4127-a984-fcc722aaa7e8",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -1264,14 +1318,14 @@
"area_px": 567.0,
"perimeter_px": 99.02775573730469,
"sharpness": {
"laplacian_var": 3253.121683967705
"laplacian_var": 3278.8644691945406
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 85.96078431372548,
"std_gray": 67.36070181051011
"mean_gray": 85.8529411764706,
"std_gray": 67.40260177948325
},
"geometry": {
"distance_to_center_norm": 0.29147303104400635,
@@ -1288,7 +1342,7 @@
"confidence": 0.212625
},
{
"observation_id": "9478d653-33c8-4c62-8e5d-fdaae66be786",
"observation_id": "eb460807-35a7-42e9-ab23-89edfcc56587",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -1318,14 +1372,14 @@
"area_px": 489.5,
"perimeter_px": 94.42769050598145,
"sharpness": {
"laplacian_var": 2632.4304172778625
"laplacian_var": 2630.949314940233
},
"contrast": {
"p05": 28.0,
"p95": 177.0,
"dynamic_range": 149.0,
"mean_gray": 80.28491620111731,
"std_gray": 63.10921938482279
"mean_gray": 80.22905027932961,
"std_gray": 63.11944909776458
},
"geometry": {
"distance_to_center_norm": 0.3777081370353699,
@@ -1342,7 +1396,7 @@
"confidence": 0.15432248002290727
},
{
"observation_id": "a5a23764-c387-426a-ac12-26ee308c9b65",
"observation_id": "835810e7-df5b-47b8-a765-f9380200dea9",
"type": "aruco",
"marker_id": 94,
"marker_size_m": 0.025,
@@ -1396,7 +1450,7 @@
"confidence": 0.06057156860351561
},
{
"observation_id": "c43a6058-aa64-417b-8316-c9852e42cf81",
"observation_id": "76f015a8-ee35-4231-a91d-b2616820f88e",
"type": "aruco",
"marker_id": 76,
"marker_size_m": 0.025,
@@ -1450,7 +1504,7 @@
"confidence": 0.2459421895345052
},
{
"observation_id": "3a8791f0-5b36-47fb-a924-9d9e79befae7",
"observation_id": "160f950b-c25e-4e35-9e6b-65b41afbc887",
"type": "aruco",
"marker_id": 100,
"marker_size_m": 0.025,
@@ -1504,7 +1558,7 @@
"confidence": 0.24407473894265982
},
{
"observation_id": "7458d560-f629-4981-bde1-e36648a0a966",
"observation_id": "f3dab172-aad8-4452-86e0-9f2be218512b",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -1558,7 +1612,7 @@
"confidence": 0.23896265492072474
},
{
"observation_id": "ac6fa9f7-4ff5-4c4c-8edd-49e1282ceced",
"observation_id": "da2fa795-d972-4ba2-9008-70d663559bb8",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
@@ -1612,7 +1666,7 @@
"confidence": 0.24909137483284013
},
{
"observation_id": "a7b159a9-bd34-4e86-a261-401ad41c902d",
"observation_id": "21ce63dc-db84-4e1c-8f3f-836403017fa3",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -1666,7 +1720,7 @@
"confidence": 0.23734254719660833
},
{
"observation_id": "6452eb7d-45e7-4d15-9709-322becfff4f6",
"observation_id": "d740d95b-9671-4759-9289-4873f7e4b557",
"type": "aruco",
"marker_id": 50,
"marker_size_m": 0.025,
@@ -1720,7 +1774,7 @@
"confidence": 0.2211554500544793
},
{
"observation_id": "2f94e32e-e2ea-48bc-964b-98617cb16656",
"observation_id": "92df77e3-fede-4a29-a2c3-3c3761995209",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -1750,14 +1804,14 @@
"area_px": 472.5,
"perimeter_px": 88.1527214050293,
"sharpness": {
"laplacian_var": 2263.0568148828156
"laplacian_var": 2263.6618568996223
},
"contrast": {
"p05": 7.0,
"p95": 156.0,
"dynamic_range": 149.0,
"mean_gray": 54.857142857142854,
"std_gray": 59.11370883499775
"mean_gray": 54.85434173669468,
"std_gray": 59.11277797875015
},
"geometry": {
"distance_to_center_norm": 0.22615359723567963,
@@ -1774,7 +1828,7 @@
"confidence": 0.21841319450965294
},
{
"observation_id": "a58f4696-c341-42ea-a855-14dac03148c9",
"observation_id": "4386215c-7005-4ef1-9a61-70b754417bd7",
"type": "aruco",
"marker_id": 104,
"marker_size_m": 0.025,
@@ -1828,7 +1882,7 @@
"confidence": 0.22417849731445313
},
{
"observation_id": "e99bbb66-100f-4885-99b8-f44b41a7aa6f",
"observation_id": "85a82c1b-c95d-4f10-8c07-173e4da47cbb",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -1882,7 +1936,7 @@
"confidence": 0.22367025973033955
},
{
"observation_id": "613cd1a1-71e6-425b-bc59-7d06e24ba992",
"observation_id": "9be7c13c-664b-469f-b022-08b907a7ed76",
"type": "aruco",
"marker_id": 60,
"marker_size_m": 0.025,
@@ -1912,14 +1966,14 @@
"area_px": 438.0,
"perimeter_px": 85.07713508605957,
"sharpness": {
"laplacian_var": 1901.0565414580901
"laplacian_var": 1900.4491794949
},
"contrast": {
"p05": 7.0,
"p95": 157.0,
"dynamic_range": 150.0,
"mean_gray": 93.65950920245399,
"std_gray": 61.815508346625734
"mean_gray": 93.65644171779141,
"std_gray": 61.81487108071269
},
"geometry": {
"distance_to_center_norm": 0.27946722507476807,
@@ -1936,7 +1990,7 @@
"confidence": 0.19874429613402733
},
{
"observation_id": "a6991594-f31a-4413-b924-3da488f47feb",
"observation_id": "ebdb2efd-9ea6-4b4c-8745-6d265f2c796f",
"type": "aruco",
"marker_id": 67,
"marker_size_m": 0.025,
@@ -1990,7 +2044,7 @@
"confidence": 0.19627771759033205
},
{
"observation_id": "66edebca-c6fa-44dd-b8a1-71e17f61d3c5",
"observation_id": "1bda7b8f-4558-4379-9fc3-c1c4057d3d12",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -2044,7 +2098,7 @@
"confidence": 0.18966921411877496
},
{
"observation_id": "b084b394-47d2-4149-8a84-b3fb160d8bcb",
"observation_id": "e505fb91-db07-4894-906a-c0156a31f7bb",
"type": "aruco",
"marker_id": 88,
"marker_size_m": 0.025,
@@ -2098,7 +2152,7 @@
"confidence": 0.17697203515072252
},
{
"observation_id": "b126f36f-0cc9-405c-95ae-755ad7b1e5ca",
"observation_id": "40bbb878-ffce-4348-9aa0-da2fb8e05a66",
"type": "aruco",
"marker_id": 70,
"marker_size_m": 0.025,
@@ -2152,7 +2206,7 @@
"confidence": 0.193995418548584
},
{
"observation_id": "e854fdee-0c99-4c89-9985-50c3b8723b5b",
"observation_id": "36707540-0e15-4dcf-915f-5d2e60104c47",
"type": "aruco",
"marker_id": 90,
"marker_size_m": 0.025,
@@ -2182,14 +2236,14 @@
"area_px": 397.5,
"perimeter_px": 81.56232070922852,
"sharpness": {
"laplacian_var": 2046.7675629716232
"laplacian_var": 2046.70570730152
},
"contrast": {
"p05": 7.0,
"p95": 155.0,
"dynamic_range": 148.0,
"mean_gray": 77.9553264604811,
"std_gray": 60.68448114384391
"mean_gray": 77.95876288659794,
"std_gray": 60.68422875087157
},
"geometry": {
"distance_to_center_norm": 0.5281360745429993,
@@ -2206,7 +2260,7 @@
"confidence": 0.17958947754575058
},
{
"observation_id": "2f854f7f-273b-41cd-ba76-d324ea923a09",
"observation_id": "7a41aa8e-f7c9-47ab-a0c6-b850c852b67b",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
@@ -2260,7 +2314,7 @@
"confidence": 0.17676838843571283
},
{
"observation_id": "ce0ab490-eb43-4db8-ab4b-0416e44b6ed2",
"observation_id": "9068aa4e-1ac8-47c3-a5df-7a4ff113c286",
"type": "aruco",
"marker_id": 61,
"marker_size_m": 0.025,
@@ -2314,7 +2368,7 @@
"confidence": 0.1668050360320266
},
{
"observation_id": "4c417fee-edbb-43b8-801a-88cd9ecb16fe",
"observation_id": "6656cff2-9404-4880-b4b8-020aad799274",
"type": "aruco",
"marker_id": 91,
"marker_size_m": 0.025,
@@ -2519,6 +2573,31 @@
],
"area_px": 270.0
},
{
"image_points_px": [
[
564.0,
579.0
],
[
542.0,
584.0
],
[
536.0,
577.0
],
[
561.0,
576.0
]
],
"center_px": [
550.75,
579.0
],
"area_px": 131.0
},
{
"image_points_px": [
[

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z",
"created_utc": "2026-06-01T19:31:54Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -80,156 +80,150 @@
0,
1,
2,
3,
4,
5
3
],
"rms": [
0.018586687295892478,
0.004524773188371243,
0.004401379732697687,
0.004400889630930333,
0.004400885875121036,
0.004400885841339656
0.009770904610742407,
0.0005557932506905666,
0.00010407952417825743,
0.00010405845495287234
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
0.000125
]
},
"residual_rms_px": 10.292890093493769,
"residual_median_px": 7.4678436874840095,
"residual_max_px": 24.31129229011066,
"sigma2_normalized": 2.1128504929624298e-05
"residual_rms_px": 0.26162347400718944,
"residual_median_px": 0.19543271642590312,
"residual_max_px": 0.5142868307990927,
"sigma2_normalized": 1.181254041324392e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9994555115699768,
-0.02737392485141754,
0.018421687185764313
0.999923050403595,
-0.01239904947578907,
0.00034589259303174913
],
[
-0.016220903024077415,
-0.8938210010528564,
-0.44813042879104614
-0.009447838179767132,
-0.7793982625007629,
-0.6264575719833374
],
[
0.028732780367136,
0.44758760929107666,
-0.893778383731842
0.008037067018449306,
0.6264061331748962,
-0.7794554233551025
]
],
"translation_m": [
-0.31198850274086,
0.07340206205844879,
1.470489501953125
-0.31134694814682007,
0.05269560590386391,
1.4960466623306274
],
"rvec_rad": [
2.676766457100025,
-0.030813699542104743,
0.03332972568205707
2.4645549055471876,
-0.015129595781071595,
0.005805439556216878
]
},
"camera_in_world": {
"position_m": [
0.2707580327987671,
-0.6011049747467041,
1.3529328107833862
0.299796998500824,
-0.8999223113059998,
1.199220895767212
],
"position_mm": [
270.7580261230469,
-601.10498046875,
1352.932861328125
299.7969970703125,
-899.9223022460938,
1199.220947265625
],
"orientation_deg": {
"roll": 153.3991241455078,
"pitch": -1.6464935541152954,
"yaw": -0.9298138618469238
"roll": 141.21302795410156,
"pitch": -0.4604949653148651,
"yaw": -0.5413467884063721
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00018657518370904268,
3.2614109577068e-07,
1.602449603391029e-05,
3.6495787472589852e-06,
1.1980728245686841e-05,
4.131249908075356e-05
5.942548118985504e-08,
1.740518718497372e-09,
5.925191386549445e-09,
1.5983183447919768e-09,
2.5144002180118628e-09,
1.5878427638483482e-08
],
[
3.261410957703507e-07,
2.372399124672742e-05,
-9.93790439358011e-06,
-1.6114706168064627e-06,
-6.845548839083708e-06,
5.391364200550181e-06
1.7405187184973633e-09,
1.3354161848474976e-08,
-6.855592471955503e-09,
-8.072628050513177e-10,
-3.451327022769324e-09,
4.779839212294198e-09
],
[
1.6024496033910718e-05,
-9.937904393580179e-06,
0.0003263354532916631,
2.012545236972588e-05,
-2.26070059708291e-05,
-0.00011959367220891756
5.925191386549676e-09,
-6.855592471955499e-09,
1.0368504227021555e-07,
5.966148500610053e-09,
-1.011935122178965e-08,
-4.047425806219628e-08
],
[
3.6495787472590136e-06,
-1.611470616806491e-06,
2.0125452369725986e-05,
2.944038178204139e-06,
-7.915876131278405e-07,
-4.022481608715947e-06
1.598318344791985e-09,
-8.072628050513564e-10,
5.966148500610096e-09,
1.3288974374740166e-09,
-3.108687425138542e-10,
-2.709273862178555e-10
],
[
1.198072824568691e-05,
-6.845548839083682e-06,
-2.260700597082915e-05,
-7.915876131278457e-07,
6.3443530931111025e-06,
1.2047681591156984e-05
2.514400218011829e-09,
-3.4513270227693294e-09,
-1.0119351221789652e-08,
-3.1086874251386367e-10,
3.345854811832893e-09,
5.006445429176016e-09
],
[
4.131249908075341e-05,
5.391364200550281e-06,
-0.00011959367220891755,
-4.0224816087159735e-06,
1.2047681591156943e-05,
8.529746705107022e-05
1.587842763848343e-08,
4.779839212294195e-09,
-4.04742580621962e-08,
-2.709273862178758e-10,
5.00644542917601e-09,
3.9983851269468773e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.7826175297261447,
0.2790721575370424,
1.0350343464348573
0.013967188228221154,
0.006621112241554149,
0.01844933373230317
],
"tvec_std_m": [
0.001715819972550774,
0.0025187999311400465,
0.00923566278352941
3.645404555702997e-05,
5.784336445810265e-05,
0.0001999596240981383
]
},
"camera_center_std_m": [
0.020458553874397604,
0.01861041550873078,
0.01216387062995681
0.00037610398970986406,
0.0002781398888529384,
0.00031334355455498624
],
"camera_center_std_mm": [
20.458553874397605,
18.61041550873078,
12.16387062995681
0.3761039897098641,
0.2781398888529384,
0.31334355455498625
],
"orientation_std_deg": {
"roll": 1.0421182767903001,
"pitch": 0.7383343261342494,
"yaw": 0.2473240342127264
"roll": 0.018598436113605673,
"pitch": 0.013714811928094353,
"yaw": 0.006045644801635408
}
}
},
@@ -242,10 +236,10 @@
678.75
],
"projected_center_px": [
1233.14697265625,
661.9085693359375
1245.984375,
678.5673217773438
],
"reprojection_error_px": 21.18570505580614,
"reprojection_error_px": 0.18334523080202128,
"confidence": 0.1539593300495616
},
{
@@ -255,10 +249,10 @@
665.5
],
"projected_center_px": [
1071.257080078125,
651.162353515625
1078.4459228515625,
665.2813110351562
],
"reprojection_error_px": 15.952085623662727,
"reprojection_error_px": 0.29361646259842505,
"confidence": 0.39637168760361213
},
{
@@ -268,10 +262,10 @@
635.25
],
"projected_center_px": [
225.70152282714844,
630.446533203125
220.3571014404297,
635.3291625976562
],
"reprojection_error_px": 7.080193005139538,
"reprojection_error_px": 0.16336069048261112,
"confidence": 0.4633649853376546
},
{
@@ -281,10 +275,10 @@
668.0
],
"projected_center_px": [
314.0374450683594,
660.0361328125
307.1698303222656,
668.0555419921875
],
"reprojection_error_px": 10.463870753030886,
"reprojection_error_px": 0.09752994475641752,
"confidence": 0.3638956157928849
},
{
@@ -294,10 +288,10 @@
622.75
],
"projected_center_px": [
1059.1376953125,
612.031005859375
1064.5963134765625,
622.5699462890625
],
"reprojection_error_px": 11.98545564208293,
"reprojection_error_px": 0.20419506504790963,
"confidence": 0.46896024883690896
},
{
@@ -307,10 +301,10 @@
628.0
],
"projected_center_px": [
717.737548828125,
619.830322265625
716.8850708007812,
628.1011962890625
],
"reprojection_error_px": 8.229148617656245,
"reprojection_error_px": 0.16877443569364758,
"confidence": 0.44372569385651617
},
{
@@ -320,10 +314,10 @@
633.0
],
"projected_center_px": [
386.3920593261719,
627.0259399414062
381.9161071777344,
633.0272827148438
],
"reprojection_error_px": 7.414821556065831,
"reprojection_error_px": 0.08821764084885246,
"confidence": 0.45199802144368495
},
{
@@ -333,10 +327,10 @@
615.0
],
"projected_center_px": [
760.47509765625,
607.4323120117188
760.312744140625,
615.0904541015625
],
"reprojection_error_px": 7.571034965103883,
"reprojection_error_px": 0.1100852927154615,
"confidence": 0.44348322079976393
},
{
@@ -346,10 +340,10 @@
615.0
],
"projected_center_px": [
464.9672546386719,
609.5865478515625
461.7844543457031,
614.947021484375
],
"reprojection_error_px": 6.297316219904975,
"reprojection_error_px": 0.06319671712722756,
"confidence": 0.44348322079976393
},
{
@@ -359,10 +353,10 @@
598.75
],
"projected_center_px": [
644.9561767578125,
593.2598876953125
643.6207275390625,
598.9168090820312
],
"reprojection_error_px": 5.621049322783795,
"reprojection_error_px": 0.21103705599952288,
"confidence": 0.41815762699787656
},
{
@@ -372,10 +366,10 @@
502.0
],
"projected_center_px": [
1178.9991455078125,
506.276611328125
1180.801513671875,
502.1367492675781
],
"reprojection_error_px": 4.72152762893049,
"reprojection_error_px": 0.2410335757435026,
"confidence": 0.3958181457519531
},
{
@@ -385,10 +379,10 @@
503.25
],
"projected_center_px": [
1057.4124755859375,
508.2463684082031
1058.0533447265625,
503.37847900390625
],
"reprojection_error_px": 5.030793397428453,
"reprojection_error_px": 0.13911331459199042,
"confidence": 0.4015868133874269
},
{
@@ -398,10 +392,10 @@
507.0
],
"projected_center_px": [
689.7410888671875,
514.2028198242188
688.9879150390625,
507.1119079589844
],
"reprojection_error_px": 7.2706857010065855,
"reprojection_error_px": 0.26292005837546795,
"confidence": 0.3776
},
{
@@ -411,10 +405,10 @@
441.75
],
"projected_center_px": [
285.5662536621094,
453.19012451171875
291.1419677734375,
441.380126953125
],
"reprojection_error_px": 12.664993016506877,
"reprojection_error_px": 0.3961829369109645,
"confidence": 0.3320910299473707
},
{
@@ -424,10 +418,10 @@
427.5
],
"projected_center_px": [
685.8961791992188,
437.7833251953125
686.1612548828125,
427.895263671875
],
"reprojection_error_px": 10.289410392807468,
"reprojection_error_px": 0.40510377204949694,
"confidence": 0.3465862068965517
},
{
@@ -437,10 +431,10 @@
424.5
],
"projected_center_px": [
1044.7210693359375,
432.414306640625
1042.8582763671875,
424.4147644042969
],
"reprojection_error_px": 8.099279551969133,
"reprojection_error_px": 0.16538045492874576,
"confidence": 0.3579602826436361
},
{
@@ -450,10 +444,10 @@
423.25
],
"projected_center_px": [
1163.405029296875,
430.6384582519531
1161.501708984375,
423.257080078125
],
"reprojection_error_px": 7.520865818902188,
"reprojection_error_px": 0.4983413125146761,
"confidence": 0.343462485354258
},
{
@@ -463,10 +457,10 @@
279.5
],
"projected_center_px": [
1260.8394775390625,
281.34625244140625
1251.907470703125,
279.6442565917969
],
"reprojection_error_px": 9.030227640596275,
"reprojection_error_px": 0.1713815481813375,
"confidence": 0.06057156860351561
},
{
@@ -476,10 +470,10 @@
287.5
],
"projected_center_px": [
1051.4119873046875,
289.6189270019531
1046.1029052734375,
287.1553955078125
],
"reprojection_error_px": 5.812009826704075,
"reprojection_error_px": 0.3596411424420896,
"confidence": 0.2459421895345052
},
{
@@ -489,10 +483,10 @@
281.5
],
"projected_center_px": [
1181.211181640625,
283.404541015625
1173.5185546875,
281.41693115234375
],
"reprojection_error_px": 8.185822475183693,
"reprojection_error_px": 0.281108615359188,
"confidence": 0.24407473894265982
},
{
@@ -502,10 +496,10 @@
271.5
],
"projected_center_px": [
253.8015594482422,
276.647705078125
271.7907409667969,
271.4751892089844
],
"reprojection_error_px": 18.672048248955928,
"reprojection_error_px": 0.047701171121525825,
"confidence": 0.23896265492072474
},
{
@@ -515,10 +509,10 @@
285.25
],
"projected_center_px": [
926.9244995117188,
288.0189208984375
924.0093994140625,
285.10589599609375
],
"reprojection_error_px": 4.027358977772796,
"reprojection_error_px": 0.14441022445287882,
"confidence": 0.24909137483284013
},
{
@@ -528,10 +522,10 @@
273.5
],
"projected_center_px": [
884.1876220703125,
276.38165283203125
882.0733032226562,
273.3749084472656
],
"reprojection_error_px": 3.7743773528925697,
"reprojection_error_px": 0.34665958856695955,
"confidence": 0.23734254719660833
},
{
@@ -541,10 +535,10 @@
251.25
],
"projected_center_px": [
922.0274658203125,
254.4427032470703
918.6849975585938,
251.76016235351562
],
"reprojection_error_px": 4.57549300372867,
"reprojection_error_px": 0.5142868307990927,
"confidence": 0.2211554500544793
},
{
@@ -554,10 +548,10 @@
267.25
],
"projected_center_px": [
777.0671997070312,
270.43988037109375
777.6580200195312,
267.11578369140625
],
"reprojection_error_px": 3.262139332089819,
"reprojection_error_px": 0.1627093552920801,
"confidence": 0.21841319450965294
},
{
@@ -567,10 +561,10 @@
228.0
],
"projected_center_px": [
1194.67431640625,
229.40283203125
1184.15673828125,
227.8562469482422
],
"reprojection_error_px": 10.76610275116483,
"reprojection_error_px": 0.2126777578847596,
"confidence": 0.22417849731445313
},
{
@@ -580,10 +574,10 @@
252.25
],
"projected_center_px": [
825.8674926757812,
255.29368591308594
825.0927734375,
252.29660034179688
],
"reprojection_error_px": 3.0657910568515003,
"reprojection_error_px": 0.4098842093337483,
"confidence": 0.22367025973033955
},
{
@@ -593,10 +587,10 @@
197.25
],
"projected_center_px": [
763.8517456054688,
199.3125457763672
765.0194702148438,
197.24411010742188
],
"reprojection_error_px": 2.3606319565257206,
"reprojection_error_px": 0.020341585499749886,
"confidence": 0.19874429613402733
},
{
@@ -606,10 +600,10 @@
209.25
],
"projected_center_px": [
861.4623413085938,
211.2976837158203
859.3396606445312,
209.17727661132812
],
"reprojection_error_px": 3.0145418666434187,
"reprojection_error_px": 0.11544575539048531,
"confidence": 0.19627771759033205
},
{
@@ -619,10 +613,10 @@
192.0
],
"projected_center_px": [
685.8648681640625,
193.8142852783203
689.9830322265625,
191.71383666992188
],
"reprojection_error_px": 4.745630863192206,
"reprojection_error_px": 0.39135820361349044,
"confidence": 0.18966921411877496
},
{
@@ -632,10 +626,10 @@
170.0
],
"projected_center_px": [
1116.3076171875,
170.71231079101562
1105.278076171875,
170.22833251953125
],
"reprojection_error_px": 10.831065318542896,
"reprojection_error_px": 0.3184115653759191,
"confidence": 0.17697203515072252
},
{
@@ -645,10 +639,10 @@
183.5
],
"projected_center_px": [
943.200927734375,
184.5773468017578
938.05810546875,
183.32823181152344
],
"reprojection_error_px": 5.31133932539137,
"reprojection_error_px": 0.1813299646257538,
"confidence": 0.193995418548584
},
{
@@ -658,10 +652,10 @@
170.75
],
"projected_center_px": [
985.5296020507812,
171.8170166015625
978.7138671875,
171.03016662597656
],
"reprojection_error_px": 7.1101216178317195,
"reprojection_error_px": 0.35246632775380293,
"confidence": 0.17958947754575058
},
{
@@ -671,10 +665,10 @@
159.75
],
"projected_center_px": [
340.492919921875,
161.3194580078125
361.12615966796875,
159.62738037109375
],
"reprojection_error_px": 20.56704966126445,
"reprojection_error_px": 0.1759313366489657,
"confidence": 0.17676838843571283
},
{
@@ -684,10 +678,10 @@
162.5
],
"projected_center_px": [
268.0343017578125,
164.65380859375
292.22821044921875,
162.68539428710938
],
"reprojection_error_px": 24.31129229011066,
"reprojection_error_px": 0.18667036780389662,
"confidence": 0.1668050360320266
},
{
@@ -697,10 +691,10 @@
161.75
],
"projected_center_px": [
1069.322509765625,
162.12203979492188
1059.4664306640625,
161.80316162109375
],
"reprojection_error_px": 10.079378283784001,
"reprojection_error_px": 0.2228640623874791,
"confidence": 0.17612778902053833
}
]

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:23Z",
"created_utc": "2026-06-01T19:31:50Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_c.png",
"image_sha256": "f983121eb8b5fbda68529f2a2745d24bcc9057585ae23fc1c4e2bd0799fd0887",
"image_sha256": "d8fb4e87823c9111a01dc95cd0d67b0a3816755ea9b6ac782f709868f768851a",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 8,
"num_detected_markers": 10,
"num_rejected_candidates": 17
},
"detections": [
{
"observation_id": "6b702a27-d28d-4495-9f34-60a4caa12254",
"observation_id": "edec48eb-324c-423d-9322-b999b95f98b4",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3160.0,
"perimeter_px": 225.135498046875,
"sharpness": {
"laplacian_var": 783.9717735258657
"laplacian_var": 784.0616505362725
},
"contrast": {
"p05": 11.0,
"p95": 166.0,
"dynamic_range": 155.0,
"mean_gray": 48.51561021759697,
"std_gray": 62.30701894393334
"mean_gray": 48.51182592242195,
"std_gray": 62.3030945728601
},
"geometry": {
"distance_to_center_norm": 0.2620043158531189,
@@ -100,7 +100,7 @@
"confidence": 0.9487615650349993
},
{
"observation_id": "46cc4c8e-b8b9-46f7-afba-da4d24da9a33",
"observation_id": "36389201-cc3e-403e-8548-a76d7490e91b",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 2780.5,
"perimeter_px": 211.08317947387695,
"sharpness": {
"laplacian_var": 1532.8395161428696
"laplacian_var": 1537.2844359289659
},
"contrast": {
"p05": 20.0,
"p95": 178.0,
"dynamic_range": 158.0,
"mean_gray": 79.50802139037434,
"std_gray": 72.00556789106693
"mean_gray": 79.47219251336898,
"std_gray": 72.00461977904222
},
"geometry": {
"distance_to_center_norm": 0.3746086359024048,
@@ -154,7 +154,61 @@
"confidence": 0.9266602848500798
},
{
"observation_id": "29a0e049-9ecf-4662-8385-4656717bf3c5",
"observation_id": "5b7d1d34-a60d-4d88-98b2-98676d2745f1",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
675.0,
591.0
],
[
675.0,
642.0
],
[
621.0,
640.0
],
[
621.0,
589.0
]
],
"center_px": [
648.0,
615.5
],
"quality": {
"area_px": 2754.0,
"perimeter_px": 210.0740509033203,
"sharpness": {
"laplacian_var": 1843.4099752159816
},
"contrast": {
"p05": 22.0,
"p95": 179.0,
"dynamic_range": 157.0,
"mean_gray": 88.03787878787878,
"std_gray": 72.83345226378215
},
"geometry": {
"distance_to_center_norm": 0.3481198251247406,
"distance_to_border_px": 78.0
},
"edge_ratio": 1.059549518660003,
"edge_lengths_px": [
51.0,
54.037025451660156,
51.0,
54.037025451660156
]
},
"confidence": 0.9437973236632541
},
{
"observation_id": "a6a7c095-16ae-4d3e-b730-965e6b053bef",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 2591.0,
"perimeter_px": 204.1737174987793,
"sharpness": {
"laplacian_var": 1258.1230975706499
"laplacian_var": 1257.2737253519597
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 73.14044289044288,
"std_gray": 69.15072198022662
"mean_gray": 73.13403263403264,
"std_gray": 69.15682312279218
},
"geometry": {
"distance_to_center_norm": 0.37830305099487305,
@@ -208,7 +262,7 @@
"confidence": 0.8890505808415132
},
{
"observation_id": "67b4cc8b-73e5-4307-8ef0-daf6f715b14a",
"observation_id": "62b457b7-c7c6-4b06-b5ae-d139b48600ef",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 1108.0,
"perimeter_px": 149.0601863861084,
"sharpness": {
"laplacian_var": 2601.130769916611
"laplacian_var": 2601.4939346377523
},
"contrast": {
"p05": 16.0,
"p95": 179.0,
"dynamic_range": 163.0,
"mean_gray": 65.09597924773023,
"std_gray": 67.48087972012829
"mean_gray": 65.094682230869,
"std_gray": 67.480679736792
},
"geometry": {
"distance_to_center_norm": 0.24576722085475922,
@@ -262,7 +316,61 @@
"confidence": 0.3082915922280886
},
{
"observation_id": "a38c028a-79b4-45d5-83f4-30a9d891fca5",
"observation_id": "e1e5b1ce-1ea8-4088-9ff3-288a361cff2e",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
704.0,
651.0
],
[
759.0,
654.0
],
[
759.0,
673.0
],
[
706.0,
670.0
]
],
"center_px": [
732.0,
662.0
],
"quality": {
"area_px": 1023.0,
"perimeter_px": 146.27156829833984,
"sharpness": {
"laplacian_var": 1843.8681529474372
},
"contrast": {
"p05": 25.0,
"p95": 133.0,
"dynamic_range": 108.0,
"mean_gray": 75.87624466571835,
"std_gray": 46.06273527241466
},
"geometry": {
"distance_to_center_norm": 0.42993512749671936,
"distance_to_border_px": 47.0
},
"edge_ratio": 2.8990398206208883,
"edge_lengths_px": [
55.081756591796875,
19.0,
53.0848388671875,
19.10497283935547
]
},
"confidence": 0.22113528604884763
},
{
"observation_id": "3888d0a4-9559-4cdf-9b6a-6c5366466236",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -292,14 +400,14 @@
"area_px": 1070.0,
"perimeter_px": 143.36686897277832,
"sharpness": {
"laplacian_var": 1772.5351793651153
"laplacian_var": 1774.1468356109165
},
"contrast": {
"p05": 11.0,
"p95": 142.0,
"dynamic_range": 131.0,
"mean_gray": 53.849405548216644,
"std_gray": 54.81491413295803
"mean_gray": 53.83883751651255,
"std_gray": 54.8183301814257
},
"geometry": {
"distance_to_center_norm": 0.5515881180763245,
@@ -316,7 +424,7 @@
"confidence": 0.2964796698261984
},
{
"observation_id": "18d48a79-b877-466f-8063-deaa13baec23",
"observation_id": "2f52f486-2723-44be-891f-99fc6435f18d",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 813.0,
"perimeter_px": 130.85462188720703,
"sharpness": {
"laplacian_var": 3900.866266383413
"laplacian_var": 3902.064908149118
},
"contrast": {
"p05": 16.0,
"p95": 176.0,
"dynamic_range": 160.0,
"mean_gray": 82.33276740237692,
"std_gray": 67.51528504030205
"mean_gray": 82.33106960950764,
"std_gray": 67.51736796524585
},
"geometry": {
"distance_to_center_norm": 0.14350588619709015,
@@ -370,7 +478,7 @@
"confidence": 0.21181999247805575
},
{
"observation_id": "7b9ff620-f60b-4ce6-8a53-5f65ce9eabfc",
"observation_id": "65875279-b911-4197-8724-5b1275dae0fc",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 819.5,
"perimeter_px": 126.40194129943848,
"sharpness": {
"laplacian_var": 1381.931686421121
"laplacian_var": 1383.774825883322
},
"contrast": {
"p05": 12.0,
"p95": 139.0,
"dynamic_range": 127.0,
"mean_gray": 72.07573149741825,
"std_gray": 54.09716934533152
"mean_gray": 72.05335628227195,
"std_gray": 54.12440800684707
},
"geometry": {
"distance_to_center_norm": 0.4841289222240448,
@@ -424,7 +532,7 @@
"confidence": 0.21966133686197709
},
{
"observation_id": "0828ba21-00e9-48d7-aa7a-ecee11d5d351",
"observation_id": "f289dcb5-aa91-4c4d-878a-3037120d48c1",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 745.5,
"perimeter_px": 126.15118789672852,
"sharpness": {
"laplacian_var": 2605.5282780049174
"laplacian_var": 2605.4089031761387
},
"contrast": {
"p05": 23.0,
"p95": 179.0,
"dynamic_range": 156.0,
"mean_gray": 83.94227188081936,
"std_gray": 63.09531689303867
"mean_gray": 83.94413407821229,
"std_gray": 63.093532945009144
},
"geometry": {
"distance_to_center_norm": 0.5230682492256165,

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z",
"created_utc": "2026-06-01T19:31:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -51,19 +51,17 @@
4,
5,
6,
7,
8
7
],
"rms": [
0.006127890335695162,
0.0008478528520640616,
0.00014681024076620722,
1.4963709028061363e-05,
8.683670034931927e-07,
2.746078069496483e-08,
4.529318590563993e-10,
3.809098542147234e-12,
1.617483009487371e-14
0.005701466399826417,
0.0006549421694515404,
0.00010076772233139242,
8.955449125685644e-06,
4.457696322552101e-07,
1.2040566495468148e-08,
1.7047906406884905e-10,
1.2367921014819193e-12
],
"lambda": [
0.001,
@@ -73,139 +71,138 @@
6.25e-05,
3.125e-05,
1.5625e-05,
7.8125e-06,
3.90625e-06
7.8125e-06
]
},
"residual_rms_px": 0.0,
"residual_median_px": 0.0,
"residual_max_px": 0.0,
"sigma2_normalized": 1.4637067577342992e-32
"sigma2_normalized": 1.2380339905707805e-28
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9944018125534058,
0.10561227053403854,
0.0033347229473292828
0.9940614104270935,
0.10881201177835464,
0.0013765320181846619
],
[
0.04051270708441734,
-0.35192349553108215,
-0.9351516366004944
0.03341108560562134,
-0.2931424081325531,
-0.9554848074913025
],
[
-0.09758992493152618,
0.9300515651702881,
-0.35423198342323303
-0.10356470197439194,
0.9498565793037415,
-0.29503706097602844
]
],
"translation_m": [
-0.19784177839756012,
0.12575188279151917,
1.0033621788024902
-0.19787605106830597,
0.10631037503480911,
1.004436731338501
],
"rvec_rad": [
1.9306504238906828,
0.10446594124923296,
-0.06738381085751584
1.8681161592703934,
0.1028909685973762,
-0.07392779616757518
]
},
"camera_in_world": {
"position_m": [
0.28955772519111633,
-0.868028998374939,
0.4736798107624054
0.2971732020378113,
-0.9013754725456238,
0.39819639921188354
],
"position_mm": [
289.5577392578125,
-868.0289916992188,
473.6798095703125
297.1731872558594,
-901.37548828125,
398.1964111328125
],
"orientation_deg": {
"roll": 110.85050201416016,
"pitch": 5.600404262542725,
"yaw": 2.332984685897827
"roll": 107.25542449951172,
"pitch": 5.944478988647461,
"yaw": 1.9250257015228271
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.5276687512634244e-30,
-1.206457356216508e-30,
8.29197807375731e-31,
-2.9021089545003607e-32,
-8.396160241991216e-32,
8.636387114318996e-32
4.16034236814736e-26,
-9.084265959116168e-27,
4.059737303511283e-27,
-2.171462651448353e-28,
-6.569075768552931e-28,
7.283869428875572e-28
],
[
-1.2064573562166456e-30,
1.594399691698936e-30,
-2.6701861017445683e-30,
6.662980742991194e-32,
-1.6061172779125545e-32,
-1.8506593523891487e-32
-9.084265959116703e-27,
1.453217022374187e-26,
-2.1587521580168883e-26,
6.264626707818044e-28,
-1.8033109750434711e-28,
-4.333901264054954e-28
],
[
8.291978073760105e-31,
-2.670186101744606e-30,
6.099489375082028e-30,
-1.2623061654064467e-31,
-6.416052610833511e-32,
2.7359215533525156e-32
4.0597373035118925e-27,
-2.158752158016915e-26,
4.345003474516798e-26,
-1.0598909770808383e-27,
-4.055963443383977e-28,
7.061558195885674e-28
],
[
-2.9021089545010975e-32,
6.662980742991381e-32,
-1.2623061654064646e-31,
7.744704080393524e-33,
1.1616522854011098e-33,
8.598401270402733e-33
-2.171462651448582e-28,
6.264626707818192e-28,
-1.0598909770808514e-27,
6.920860790472766e-29,
7.401654102912024e-30,
6.025823002516987e-29
],
[
-8.396160241991087e-32,
-1.6061172779127915e-32,
-6.416052610833059e-32,
1.1616522854010374e-33,
2.1112104038689702e-32,
2.4996270792384415e-32
-6.569075768552518e-28,
-1.8033109750434164e-28,
-4.055963443384264e-28,
7.401654102912994e-30,
1.6829432827871325e-28,
1.7627776762288874e-28
],
[
8.63638711431877e-32,
-1.850659352389075e-32,
2.7359215533524696e-32,
8.598401270403007e-33,
2.4996270792384404e-32,
1.7243883853867915e-31
7.283869428875599e-28,
-4.3339012640549005e-28,
7.0615581958855765e-28,
6.025823002517296e-29,
1.7627776762288863e-28,
1.4778096456239383e-27
]
],
"parameter_std": {
"rvec_std_deg": [
1.3470807725377516e-13,
7.234711765071248e-14,
1.4150421354980368e-13
1.1686572784344028e-11,
6.906974785675086e-12,
1.1943117263498185e-11
],
"tvec_std_m": [
8.800400036585566e-17,
1.4530004830931647e-16,
4.1525755687124967e-16
8.319171106830756e-15,
1.2972830388111657e-14,
3.844228980724143e-14
]
},
"camera_center_std_m": [
2.217696547073064e-15,
1.1327794084579684e-15,
1.9962965035361475e-15
1.9239038887871313e-13,
9.046703865625127e-14,
1.79213346765021e-13
],
"camera_center_std_mm": [
2.217696547073064e-12,
1.1327794084579684e-12,
1.9962965035361473e-12
1.9239038887871312e-10,
9.046703865625127e-11,
1.79213346765021e-10
],
"orientation_std_deg": {
"roll": 1.3986198939544745e-13,
"pitch": 1.3057305303039504e-13,
"yaw": 3.4300461836332537e-14
"roll": 1.2139618292952154e-11,
"pitch": 1.138388940884766e-11,
"yaw": 2.9978621032086755e-12
}
}
},

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:24Z",
"created_utc": "2026-06-01T19:31:50Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_d.png",
"image_sha256": "cc5525be9e4d084da7dcfe2e5b568928d216204b56b306b4f5f179c8c16a1bd1",
"image_sha256": "a0e04d962e34653aa8d0f6952133c7d8878e1bf5c43936d871804af9ffafd5c1",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 15,
"num_rejected_candidates": 13
"num_detected_markers": 17,
"num_rejected_candidates": 12
},
"detections": [
{
"observation_id": "7bf1b1d4-90cd-4e94-88cb-e26503c195ae",
"observation_id": "8bae910d-ea67-4c1f-abed-d805519cd8ac",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3003.5,
"perimeter_px": 219.33864974975586,
"sharpness": {
"laplacian_var": 709.9701452934332
"laplacian_var": 709.915418925274
},
"contrast": {
"p05": 20.0,
"p95": 167.0,
"dynamic_range": 147.0,
"mean_gray": 54.951243781094526,
"std_gray": 58.27364347051445
"mean_gray": 54.950746268656715,
"std_gray": 58.273058229026226
},
"geometry": {
"distance_to_center_norm": 0.1858735829591751,
@@ -100,7 +100,7 @@
"confidence": 0.9819147066961816
},
{
"observation_id": "14d29c71-36d0-42f4-9e1d-a14aa2f46e12",
"observation_id": "aa87a9d4-2598-4139-9e5b-e948b2d46c16",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 2080.0,
"perimeter_px": 185.66013717651367,
"sharpness": {
"laplacian_var": 1672.8244911221539
"laplacian_var": 1692.9493939598208
},
"contrast": {
"p05": 27.0,
"p95": 178.0,
"dynamic_range": 151.0,
"mean_gray": 85.84252539912917,
"std_gray": 68.59572585251496
"mean_gray": 85.81640058055153,
"std_gray": 68.61043849833548
},
"geometry": {
"distance_to_center_norm": 0.343665212392807,
@@ -154,7 +154,61 @@
"confidence": 0.896516741806838
},
{
"observation_id": "932f774f-4e00-4613-9ad3-6c4816956662",
"observation_id": "0c59a634-c420-419f-ba9e-3e029bc9d6db",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
589.0,
575.0
],
[
588.0,
624.0
],
[
548.0,
611.0
],
[
548.0,
564.0
]
],
"center_px": [
568.25,
593.5
],
"quality": {
"area_px": 1950.0,
"perimeter_px": 180.51965713500977,
"sharpness": {
"laplacian_var": 2305.074017159763
},
"contrast": {
"p05": 28.0,
"p95": 179.0,
"dynamic_range": 151.0,
"mean_gray": 93.40905602455871,
"std_gray": 69.20407591802395
},
"geometry": {
"distance_to_center_norm": 0.33266279101371765,
"distance_to_border_px": 96.0
},
"edge_ratio": 1.1652593259657194,
"edge_lengths_px": [
49.01020431518555,
42.05948257446289,
47.0,
42.44997024536133
]
},
"confidence": 0.8581780705091039
},
{
"observation_id": "da46be38-bd6b-4276-8dfd-f654ecaf75ed",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 1668.0,
"perimeter_px": 168.49964904785156,
"sharpness": {
"laplacian_var": 1907.4208760474548
"laplacian_var": 1906.2662187539574
},
"contrast": {
"p05": 28.0,
"p95": 177.0,
"dynamic_range": 149.0,
"mean_gray": 77.49121265377856,
"std_gray": 65.74209617322856
"mean_gray": 77.47627416520211,
"std_gray": 65.73702642125414
},
"geometry": {
"distance_to_center_norm": 0.36147359013557434,
@@ -208,7 +262,7 @@
"confidence": 0.8782459535277616
},
{
"observation_id": "ce799fa4-c2c3-4469-b7df-ebd057b1f90d",
"observation_id": "54235993-109a-42d0-bf93-ed9432dad75e",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 1325.0,
"perimeter_px": 161.38826751708984,
"sharpness": {
"laplacian_var": 511.29994759651987
"laplacian_var": 511.38778212254675
},
"contrast": {
"p05": 15.0,
"p95": 89.0,
"dynamic_range": 74.0,
"mean_gray": 47.11001100110011,
"std_gray": 32.64417961959195
"mean_gray": 47.094609460946096,
"std_gray": 32.64530627130261
},
"geometry": {
"distance_to_center_norm": 0.3628436028957367,
@@ -262,7 +316,7 @@
"confidence": 0.49420707353484883
},
{
"observation_id": "9675e83b-bfa3-49c1-81c4-9270daabb7bf",
"observation_id": "e77fee8b-b8ec-4148-b157-9abdfc92596e",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -292,14 +346,14 @@
"area_px": 1114.0,
"perimeter_px": 152.46969032287598,
"sharpness": {
"laplacian_var": 2043.369546949695
"laplacian_var": 2042.4425525196261
},
"contrast": {
"p05": 10.0,
"p95": 143.0,
"dynamic_range": 133.0,
"mean_gray": 56.2476821192053,
"std_gray": 55.619743545892696
"mean_gray": 56.23841059602649,
"std_gray": 55.618128995593544
},
"geometry": {
"distance_to_center_norm": 0.5688640475273132,
@@ -316,7 +370,61 @@
"confidence": 0.06739671544456982
},
{
"observation_id": "bf0f473c-91da-4641-aef6-e28c6da66d9c",
"observation_id": "dcb741a1-ad97-40bd-9686-bdde12ff80d5",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
610.0,
637.0
],
[
654.0,
650.0
],
[
674.0,
673.0
],
[
632.0,
659.0
]
],
"center_px": [
642.5,
654.75
],
"quality": {
"area_px": 684.0,
"perimeter_px": 151.7443675994873,
"sharpness": {
"laplacian_var": 2755.60512329932
},
"contrast": {
"p05": 32.0,
"p95": 133.0,
"dynamic_range": 101.0,
"mean_gray": 77.08928571428571,
"std_gray": 40.07564727177467
},
"geometry": {
"distance_to_center_norm": 0.4014158248901367,
"distance_to_border_px": 47.0
},
"edge_ratio": 1.5052831229364487,
"edge_lengths_px": [
45.880279541015625,
30.479501724243164,
44.271888732910156,
31.11269760131836
]
},
"confidence": 0.28475706228860487
},
{
"observation_id": "55b666c6-05bc-439c-ad4b-ceb8d61468a5",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 951.5,
"perimeter_px": 142.9928855895996,
"sharpness": {
"laplacian_var": 3346.5119000524596
"laplacian_var": 3347.7465041580317
},
"contrast": {
"p05": 22.0,
"p95": 180.0,
"dynamic_range": 158.0,
"mean_gray": 112.79032258064517,
"std_gray": 69.39703670908084
"mean_gray": 112.78299120234604,
"std_gray": 69.39930660764287
},
"geometry": {
"distance_to_center_norm": 0.5738922953605652,
@@ -370,7 +478,7 @@
"confidence": 0.17416420855033052
},
{
"observation_id": "e5e24bc2-806b-4b1a-ab9a-01fbb46a2f5f",
"observation_id": "489a23e1-e55f-44f5-adce-cccdc43780e5",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 803.5,
"perimeter_px": 142.90676498413086,
"sharpness": {
"laplacian_var": 3132.505215730758
"laplacian_var": 3134.584695651069
},
"contrast": {
"p05": 20.0,
"p95": 179.0,
"dynamic_range": 159.0,
"mean_gray": 71.9144385026738,
"std_gray": 66.01217806202283
"mean_gray": 71.9090909090909,
"std_gray": 66.00751272042592
},
"geometry": {
"distance_to_center_norm": 0.2311026006937027,
@@ -424,7 +532,7 @@
"confidence": 0.4189637021373363
},
{
"observation_id": "2f6720bf-5b34-48df-8198-fee5dd64394f",
"observation_id": "75bc26b6-8ca6-4af3-bd86-01d4b018d232",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 913.0,
"perimeter_px": 142.04078674316406,
"sharpness": {
"laplacian_var": 3835.5621529916166
"laplacian_var": 3842.5053173541355
},
"contrast": {
"p05": 18.0,
"p95": 180.0,
"dynamic_range": 162.0,
"mean_gray": 77.06298003072196,
"std_gray": 69.67934476786625
"mean_gray": 77.05837173579108,
"std_gray": 69.6877805767358
},
"geometry": {
"distance_to_center_norm": 0.6794013381004333,
@@ -478,7 +586,7 @@
"confidence": 0.24540823915500745
},
{
"observation_id": "3133bfbd-c37f-4aad-b117-3a07fa7e7da8",
"observation_id": "3d570170-0edf-43c0-a808-c6484cb3b4f4",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -508,14 +616,14 @@
"area_px": 898.5,
"perimeter_px": 139.83118438720703,
"sharpness": {
"laplacian_var": 2159.6336565377906
"laplacian_var": 2165.0729923120616
},
"contrast": {
"p05": 13.0,
"p95": 140.0,
"dynamic_range": 127.0,
"mean_gray": 73.90764331210191,
"std_gray": 54.18881596763934
"mean_gray": 73.88057324840764,
"std_gray": 54.212692167315154
},
"geometry": {
"distance_to_center_norm": 0.5762108564376831,
@@ -532,7 +640,7 @@
"confidence": 0.32624039952470835
},
{
"observation_id": "ec538e9f-a506-4224-b8ce-3f45c3f36942",
"observation_id": "a1410f74-a7a1-4241-b2c4-cc5f093581ff",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -562,14 +670,14 @@
"area_px": 753.5,
"perimeter_px": 135.12271118164062,
"sharpness": {
"laplacian_var": 3164.585753733609
"laplacian_var": 3165.2169324408337
},
"contrast": {
"p05": 18.0,
"p95": 180.0,
"dynamic_range": 162.0,
"mean_gray": 80.77566539923954,
"std_gray": 69.1997649465929
"mean_gray": 80.77756653992395,
"std_gray": 69.20069143049439
},
"geometry": {
"distance_to_center_norm": 0.6910034418106079,
@@ -586,7 +694,7 @@
"confidence": 0.45882243623190877
},
{
"observation_id": "b2c3ccf6-e214-4135-811e-556619d5c7a8",
"observation_id": "413d266c-3ec4-42ca-8f95-c41af134499b",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
@@ -640,7 +748,7 @@
"confidence": 0.051262886894149665
},
{
"observation_id": "67e94429-c3a8-40bf-9cb6-6754a61a0e22",
"observation_id": "bd697839-f6b6-47e4-9ad8-b209dbb774af",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
@@ -670,14 +778,14 @@
"area_px": 756.0,
"perimeter_px": 131.0517463684082,
"sharpness": {
"laplacian_var": 1423.9812119008097
"laplacian_var": 1421.5132665296026
},
"contrast": {
"p05": 10.0,
"p05": 9.3,
"p95": 134.0,
"dynamic_range": 124.0,
"mean_gray": 58.74193548387097,
"std_gray": 52.284307136314716
"dynamic_range": 124.7,
"mean_gray": 58.6831119544592,
"std_gray": 52.27402037585227
},
"geometry": {
"distance_to_center_norm": 0.3794279992580414,
@@ -694,7 +802,7 @@
"confidence": 0.3071912693949274
},
{
"observation_id": "fa2bc2d8-3fb1-4e16-b1ff-039d2229de1c",
"observation_id": "c5f98eba-a550-42e3-831a-27ffcb5b336f",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -724,14 +832,14 @@
"area_px": 639.0,
"perimeter_px": 120.78989791870117,
"sharpness": {
"laplacian_var": 2347.9067510458917
"laplacian_var": 2347.74085242838
},
"contrast": {
"p05": 13.0,
"p95": 154.0,
"dynamic_range": 141.0,
"mean_gray": 60.45622119815668,
"std_gray": 57.54496675317384
"mean_gray": 60.453917050691246,
"std_gray": 57.541361167645114
},
"geometry": {
"distance_to_center_norm": 0.8898242115974426,
@@ -748,7 +856,7 @@
"confidence": 0.013395930107400523
},
{
"observation_id": "3883a462-49c5-477f-af6f-16d8df30a4dd",
"observation_id": "01d3a83a-fdb7-41b7-bedf-31c5b4dcca8b",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -778,14 +886,14 @@
"area_px": 517.0,
"perimeter_px": 110.77002239227295,
"sharpness": {
"laplacian_var": 2490.516899956597
"laplacian_var": 2491.36585828993
},
"contrast": {
"p05": 14.0,
"p95": 153.0,
"dynamic_range": 139.0,
"mean_gray": 81.57291666666667,
"std_gray": 54.69593883302844
"mean_gray": 81.578125,
"std_gray": 54.69478894877501
},
"geometry": {
"distance_to_center_norm": 0.8393738269805908,
@@ -802,7 +910,7 @@
"confidence": 0.07285288505606423
},
{
"observation_id": "cc178f65-204b-4f74-be9d-ba4d38e7c06c",
"observation_id": "622c2420-67c0-4249-964d-5297bd514fa0",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 481.0,
"perimeter_px": 104.36293029785156,
"sharpness": {
"laplacian_var": 2280.0942749058095
"laplacian_var": 2279.451615626031
},
"contrast": {
"p05": 13.0,
"p95": 152.0,
"dynamic_range": 139.0,
"mean_gray": 79.05817174515235,
"std_gray": 53.4666328337065
"mean_gray": 79.05540166204986,
"std_gray": 53.46360483038126
},
"geometry": {
"distance_to_center_norm": 0.759231686592102,
@@ -1156,31 +1264,6 @@
233.0
],
"area_px": 122.0
},
{
"image_points_px": [
[
657.0,
636.0
],
[
662.0,
646.0
],
[
663.0,
656.0
],
[
657.0,
650.0
]
],
"center_px": [
659.75,
647.0
],
"area_px": 62.0
}
]
}

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z",
"created_utc": "2026-06-01T19:31:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -56,10 +56,10 @@
3
],
"rms": [
0.006170555783051489,
0.0012293953054527144,
0.00121100792156609,
0.0012110078502646229
0.00592128797069254,
0.0002194332973785019,
7.664644811953067e-05,
7.664508292835141e-05
],
"lambda": [
0.001,
@@ -68,135 +68,135 @@
0.000125
]
},
"residual_rms_px": 2.571926995828887,
"residual_median_px": 1.7530882678650423,
"residual_max_px": 5.015482946936298,
"sigma2_normalized": 2.1998100201036963e-06
"residual_rms_px": 0.1926882876782969,
"residual_median_px": 0.1532091843546219,
"residual_max_px": 0.36992141357038616,
"sigma2_normalized": 8.81170310356566e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8208228945732117,
0.5711369514465332,
-0.007236112374812365
0.819083571434021,
0.573674201965332,
-7.804717461112887e-05
],
[
0.17046144604682922,
-0.25703468918800354,
-0.9512497186660767
0.16154244542121887,
-0.23077847063541412,
-0.959502637386322
],
[
-0.545153796672821,
0.7795740962028503,
-0.3083367645740509
-0.5504599213600159,
0.7859002351760864,
-0.28169959783554077
]
],
"translation_m": [
-0.1157284826040268,
0.1107938289642334,
1.1233245134353638
-0.1149967834353447,
0.08632534742355347,
1.1262248754501343
],
"rvec_rad": [
1.820345783135202,
0.565739972072733,
-0.42139931920823825
1.790890359735796,
0.5647255469066017,
-0.4228724418736391
]
},
"camera_in_world": {
"position_m": [
0.6884911060333252,
-0.7811400294303894,
0.45091742277145386
0.700188398361206,
-0.7992076277732849,
0.4000775218009949
],
"position_mm": [
688.4910888671875,
-781.1400146484375,
450.91741943359375
700.1884155273438,
-799.2076416015625,
400.0775146484375
],
"orientation_deg": {
"roll": 111.57975769042969,
"pitch": 33.03517150878906,
"yaw": 11.731935501098633
"roll": 109.71980285644531,
"pitch": 33.3985710144043,
"yaw": 11.156882286071777
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.802912364722085e-05,
1.641716016150694e-05,
1.691836245137162e-05,
6.126801770729793e-08,
-7.054768849224667e-06,
-1.4055169549040093e-06
1.474264434205888e-07,
6.374158505004994e-08,
6.5393212187082e-08,
2.323551745772562e-10,
-2.8175754378558378e-08,
-6.281842445634639e-09
],
[
1.6417160161507313e-05,
1.8076806685023157e-05,
-1.2387621424337972e-07,
1.428054155254671e-06,
-3.564815364989778e-06,
3.3814832059954696e-06
6.374158505004971e-08,
7.516394631858262e-08,
-3.098788390694164e-09,
6.231784272508069e-09,
-1.4652912297735088e-08,
1.4871976782740992e-08
],
[
1.691836245137113e-05,
-1.2387621424384347e-07,
3.514815322876603e-05,
-1.9686880580364376e-06,
-5.9266379714250665e-06,
-9.613830700805953e-06
6.539321218708259e-08,
-3.0987883906935035e-09,
1.30834849529192e-07,
-7.83447200398745e-09,
-2.20136873576919e-08,
-3.713327527158082e-08
],
[
6.126801770734447e-08,
1.428054155254699e-06,
-1.9686880580364237e-06,
4.860268624097902e-07,
1.2958398906388404e-07,
1.137747180562379e-06
2.3235517457724588e-10,
6.231784272508058e-09,
-7.834472003987483e-09,
2.015321468609898e-09,
3.824536871097561e-10,
4.720259558328338e-09
],
[
-7.0547688492246515e-06,
-3.5648153649896957e-06,
-5.926637971425152e-06,
1.2958398906389237e-07,
2.168988131799405e-06,
1.8523330142213258e-06
-2.8175754378558405e-08,
-1.4652912297735193e-08,
-2.201368735769175e-08,
3.824536871097535e-10,
8.462319544152771e-09,
6.50882687645283e-09
],
[
-1.4055169549037846e-06,
3.3814832059956026e-06,
-9.61383070080584e-06,
1.1377471805623797e-06,
1.8523330142212812e-06,
8.248418996032322e-06
-6.281842445634875e-09,
1.4871976782740766e-08,
-3.713327527158089e-08,
4.720259558328354e-09,
6.508826876452886e-09,
3.3381200906306504e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.3533302259848121,
0.243603480626876,
0.3396830590573791
0.02199937418702532,
0.0157082360647714,
0.020724513862507427
],
"tvec_std_m": [
0.0006971562682855188,
0.0014727484957722432,
0.0028720060926175493
4.4892331957806536e-05,
9.19908666344261e-05,
0.00018270522955379933
]
},
"camera_center_std_m": [
0.004836840199544631,
0.003058465639926295,
0.006511032751858579
0.0003266235513242862,
0.0001808706851681404,
0.0003924503039833442
],
"camera_center_std_mm": [
4.836840199544631,
3.058465639926295,
6.511032751858579
0.3266235513242862,
0.1808706851681404,
0.39245030398334424
],
"orientation_std_deg": {
"roll": 0.4538839876757688,
"pitch": 0.25057379305976407,
"yaw": 0.3499434553975412
"roll": 0.02672957057968057,
"pitch": 0.018277498858926877,
"yaw": 0.022351358840042954
}
}
},
@@ -209,10 +209,10 @@
696.5
],
"projected_center_px": [
887.7296752929688,
696.2703247070312
887.3785400390625,
696.5933837890625
],
"reprojection_error_px": 0.3248099142584202,
"reprojection_error_px": 0.1532091843546219,
"confidence": 0.06739671544456982
},
{
@@ -222,10 +222,10 @@
691.25
],
"projected_center_px": [
379.45953369140625,
688.251953125
379.3415832519531,
691.183349609375
],
"reprojection_error_px": 2.998319960716079,
"reprojection_error_px": 0.1718666361811162,
"confidence": 0.17416420855033052
},
{
@@ -235,10 +235,10 @@
685.0
],
"projected_center_px": [
261.4115295410156,
683.2491455078125
261.4269714355469,
685.0563354492188
],
"reprojection_error_px": 1.7530882678650423,
"reprojection_error_px": 0.09223260846773548,
"confidence": 0.24540823915500745
},
{
@@ -248,10 +248,10 @@
638.25
],
"projected_center_px": [
958.8698120117188,
640.2307739257812
958.720947265625,
638.2713012695312
],
"reprojection_error_px": 1.984394180400396,
"reprojection_error_px": 0.03602506708261993,
"confidence": 0.32624039952470835
},
{
@@ -261,10 +261,10 @@
631.75
],
"projected_center_px": [
210.99404907226562,
633.2077026367188
211.63552856445312,
631.7791748046875
],
"reprojection_error_px": 1.5430111206248873,
"reprojection_error_px": 0.13863318870775002,
"confidence": 0.45882243623190877
},
{
@@ -274,10 +274,10 @@
593.5
],
"projected_center_px": [
792.0845336914062,
598.5147705078125
792.3450927734375,
593.3667602539062
],
"reprojection_error_px": 5.015482946936298,
"reprojection_error_px": 0.36992141357038616,
"confidence": 0.3071912693949274
},
{
@@ -287,10 +287,10 @@
596.75
],
"projected_center_px": [
1249.3333740234375,
593.0040283203125
1249.1597900390625,
596.575439453125
],
"reprojection_error_px": 3.7607767900426765,
"reprojection_error_px": 0.23665215213239527,
"confidence": 0.013395930107400523
},
{
@@ -300,10 +300,10 @@
549.5
],
"projected_center_px": [
1226.4927978515625,
548.7413940429688
1226.3973388671875,
549.6629638671875
],
"reprojection_error_px": 0.758640144591238,
"reprojection_error_px": 0.19260459547749867,
"confidence": 0.07285288505606423
},
{
@@ -313,10 +313,10 @@
518.5
],
"projected_center_px": [
1174.326416015625,
519.5684814453125
1174.351318359375,
518.5086669921875
],
"reprojection_error_px": 1.0824897221722658,
"reprojection_error_px": 0.14893403577597647,
"confidence": 0.14539527499019034
}
]

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:24Z",
"created_utc": "2026-06-01T19:31:51Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_e.png",
"image_sha256": "1e3b7817bb58783826cf29c0636df212b76dbe6d64837dbe50a3ef25e59e405b",
"image_sha256": "fc0caa88429f58e2c256896048c494c17de93e897c243f0b288366819ced0d7a",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 30,
"num_detected_markers": 32,
"num_rejected_candidates": 16
},
"detections": [
{
"observation_id": "d4c2d49a-d5a2-41e8-ab16-c56d09039b0f",
"observation_id": "c1d2da59-75c6-4d02-886d-8fabb61ec9ea",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.15369374989294518
},
{
"observation_id": "c13f1780-9fb6-4e71-a8c8-81f48f6e4a59",
"observation_id": "67866484-49d4-4ee3-9600-6a3e9a295b4b",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1138.5,
"perimeter_px": 135.51135063171387,
"sharpness": {
"laplacian_var": 1395.54265041454
"laplacian_var": 1396.3165967746934
},
"contrast": {
"p05": 30.0,
"p95": 168.0,
"dynamic_range": 138.0,
"mean_gray": 63.54150702426565,
"std_gray": 53.90550837087516
"mean_gray": 63.5389527458493,
"std_gray": 53.90337793850841
},
"geometry": {
"distance_to_center_norm": 0.31962084770202637,
@@ -154,7 +154,7 @@
"confidence": 0.6379583967674639
},
{
"observation_id": "c5c22347-c916-4b33-93b9-7dead9184c3b",
"observation_id": "2517ca9f-ed92-457b-b000-0506de854a3f",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.3233651345714012
},
{
"observation_id": "83fbec59-ae42-4d8c-986b-206286e18707",
"observation_id": "5cb181eb-eb8f-4e03-9f55-89ba3f92ef5c",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 726.0,
"perimeter_px": 129.54478073120117,
"sharpness": {
"laplacian_var": 1552.4957839915678
"laplacian_var": 1552.9763275776552
},
"contrast": {
"p05": 19.0,
"p95": 164.0,
"dynamic_range": 145.0,
"mean_gray": 46.78740157480315,
"std_gray": 48.665316906665055
"mean_gray": 46.75787401574803,
"std_gray": 48.667626115320886
},
"geometry": {
"distance_to_center_norm": 0.43365001678466797,
@@ -262,7 +262,7 @@
"confidence": 0.420622587927407
},
{
"observation_id": "a9d18886-3b74-49ae-a5b8-b52b1a0b7cb4",
"observation_id": "4648f9ca-f152-4ff7-ad5c-d5b0e146800c",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 705.0,
"perimeter_px": 129.15711212158203,
"sharpness": {
"laplacian_var": 2392.7856022683077
"laplacian_var": 2402.441918526604
},
"contrast": {
"p05": 26.0,
"p95": 171.0,
"dynamic_range": 145.0,
"mean_gray": 130.17791411042944,
"std_gray": 51.46018218641758
"mean_gray": 130.10838445807772,
"std_gray": 51.54106222561808
},
"geometry": {
"distance_to_center_norm": 0.4187626242637634,
@@ -316,7 +316,7 @@
"confidence": 0.3128949822399185
},
{
"observation_id": "361f898d-4df7-4264-8afb-b3eb5d8f998d",
"observation_id": "54f50283-03a1-4fa7-abe4-ea4d1e3b6cf6",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -330,7 +330,7 @@
568.0
],
[
1233.0,
1229.0,
578.0
],
[
@@ -339,38 +339,38 @@
]
],
"center_px": [
1223.5,
1222.5,
566.75
],
"quality": {
"area_px": 614.0,
"perimeter_px": 124.33826637268066,
"area_px": 620.0,
"perimeter_px": 124.12893295288086,
"sharpness": {
"laplacian_var": 2848.1774430402274
"laplacian_var": 2173.9590709117824
},
"contrast": {
"p05": 23.0,
"p95": 161.0,
"dynamic_range": 138.0,
"mean_gray": 81.125,
"std_gray": 51.497169161069166
"mean_gray": 80.4771689497717,
"std_gray": 51.167226768523435
},
"geometry": {
"distance_to_center_norm": 0.8430395126342773,
"distance_to_center_norm": 0.8417559862136841,
"distance_to_border_px": 29.0
},
"edge_ratio": 2.0425889778302593,
"edge_ratio": 1.583843936128768,
"edge_lengths_px": [
36.055511474609375,
20.59126091003418,
42.05948257446289,
24.166091918945312,
38.27531814575195,
25.63201141357422
]
},
"confidence": 0.11623157468788738
"confidence": 0.15136171428561934
},
{
"observation_id": "cd26fca3-64f5-4bda-9136-1483b4055d11",
"observation_id": "70a870d8-faf8-47fe-8c2f-8df7bde12dc0",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 914.0,
"perimeter_px": 122.61877822875977,
"sharpness": {
"laplacian_var": 605.5716694535059
"laplacian_var": 602.3394909582115
},
"contrast": {
"p05": 10.0,
"p95": 90.0,
"dynamic_range": 80.0,
"mean_gray": 43.77182235834609,
"std_gray": 35.104721948918254
"p95": 89.0,
"dynamic_range": 79.0,
"mean_gray": 43.733537519142416,
"std_gray": 35.054183295376696
},
"geometry": {
"distance_to_center_norm": 0.059734828770160675,
@@ -421,10 +421,10 @@
34.01470184326172
]
},
"confidence": 0.48895218467117135
"confidence": 0.48284028236278176
},
{
"observation_id": "c44ff6c1-bf51-454b-b472-b578a37dc7a1",
"observation_id": "71cef381-127b-47d0-86cd-be233a8db9fd",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 543.0,
"perimeter_px": 114.0735855102539,
"sharpness": {
"laplacian_var": 3936.05531141493
"laplacian_var": 3948.9721611870664
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 102.42708333333333,
"std_gray": 66.00216928121674
"mean_gray": 102.38020833333333,
"std_gray": 66.02470516119904
},
"geometry": {
"distance_to_center_norm": 0.43057525157928467,
@@ -478,14 +478,14 @@
"confidence": 0.22596816505744277
},
{
"observation_id": "99aa3687-533b-4c99-bc5b-4d581bb7830d",
"observation_id": "3ab18057-f549-4b6a-ac7a-5ff13ade4a50",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
"image_points_px": [
[
610.0,
375.0
609.0,
374.0
],
[
608.0,
@@ -501,38 +501,38 @@
]
],
"center_px": [
598.25,
387.5
598.0,
387.25
],
"quality": {
"area_px": 721.5,
"perimeter_px": 111.95730209350586,
"area_px": 711.0,
"perimeter_px": 111.63799858093262,
"sharpness": {
"laplacian_var": 2651.282638480307
"laplacian_var": 2707.612600701456
},
"contrast": {
"p05": 33.6,
"p05": 34.0,
"p95": 178.0,
"dynamic_range": 144.4,
"mean_gray": 91.25963488843813,
"std_gray": 63.714703337359325
"dynamic_range": 144.0,
"mean_gray": 92.16082474226805,
"std_gray": 63.81131101734856
},
"geometry": {
"distance_to_center_norm": 0.06808248162269592,
"distance_to_center_norm": 0.06818114966154099,
"distance_to_border_px": 312.0
},
"edge_ratio": 1.471175252019898,
"edge_ratio": 1.5366275447822217,
"edge_lengths_px": [
33.060550689697266,
34.01470184326172,
22.472204208374023,
33.0151481628418,
23.409399032592773
22.135944366455078
]
},
"confidence": 0.32694949112255345
"confidence": 0.3084677231053915
},
{
"observation_id": "cbaa94d0-b167-4732-a9fd-0e8f99f8ac12",
"observation_id": "03ad9dcf-0f4d-45ad-9b37-334beed9cc55",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 503.0,
"perimeter_px": 111.20100593566895,
"sharpness": {
"laplacian_var": 3261.1373761041914
"laplacian_var": 3296.9066262245833
},
"contrast": {
"p05": 28.0,
"p05": 27.0,
"p95": 175.0,
"dynamic_range": 147.0,
"mean_gray": 86.02680965147454,
"std_gray": 58.83333418681533
"dynamic_range": 148.0,
"mean_gray": 85.16085790884719,
"std_gray": 59.422022901432
},
"geometry": {
"distance_to_center_norm": 0.31366512179374695,
@@ -586,7 +586,7 @@
"confidence": 0.24626971873720385
},
{
"observation_id": "aabe2ac4-c842-4fa3-98e0-48041e69f5ff",
"observation_id": "ef75cf1d-9682-4a82-a02f-bab3775e6829",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 432.0,
"perimeter_px": 105.96671867370605,
"sharpness": {
"laplacian_var": 4367.582266422802
"laplacian_var": 4391.6449759945135
},
"contrast": {
"p05": 21.0,
"p95": 172.0,
"dynamic_range": 151.0,
"mean_gray": 92.24382716049382,
"std_gray": 65.13072651191699
"mean_gray": 92.17901234567901,
"std_gray": 65.15692399663716
},
"geometry": {
"distance_to_center_norm": 0.26008275151252747,
@@ -640,7 +640,61 @@
"confidence": 0.2205630261207473
},
{
"observation_id": "0d59062d-e9f7-436b-be31-a1f48562cb53",
"observation_id": "9d345a22-ca8c-43a7-bc0e-cc40d714b8e9",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
577.0,
363.0
],
[
576.0,
396.0
],
[
556.0,
389.0
],
[
556.0,
356.0
]
],
"center_px": [
566.25,
376.0
],
"quality": {
"area_px": 680.0,
"perimeter_px": 109.34071350097656,
"sharpness": {
"laplacian_var": 3585.3338224302925
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 98.88865096359743,
"std_gray": 63.69332657183244
},
"geometry": {
"distance_to_center_norm": 0.10277188569307327,
"distance_to_border_px": 324.0
},
"edge_ratio": 1.5580811099437382,
"edge_lengths_px": [
33.0151481628418,
21.189620971679688,
33.0,
22.135944366455078
]
},
"confidence": 0.2909561835004232
},
{
"observation_id": "f09883dd-66c3-4f34-8027-c3a34bc78728",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 396.0,
"perimeter_px": 108.54165649414062,
"sharpness": {
"laplacian_var": 2603.223745586377
"laplacian_var": 2603.443676857855
},
"contrast": {
"p05": 13.0,
"p95": 139.0,
"dynamic_range": 126.0,
"mean_gray": 56.766323024054984,
"std_gray": 49.3015864450501
"mean_gray": 56.756013745704465,
"std_gray": 49.28839588574071
},
"geometry": {
"distance_to_center_norm": 0.23876266181468964,
@@ -694,7 +748,7 @@
"confidence": 0.22017552547080893
},
{
"observation_id": "df48a7ee-fb72-4bb7-a880-7bafbd7e4745",
"observation_id": "b511c649-67e9-4482-9ba7-6c177021fa17",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 465.0,
"perimeter_px": 108.44962120056152,
"sharpness": {
"laplacian_var": 2477.282990805841
"laplacian_var": 2471.784444294213
},
"contrast": {
"p05": 23.0,
"p95": 166.0,
"dynamic_range": 143.0,
"mean_gray": 52.51162790697674,
"std_gray": 47.46295843003588
"mean_gray": 52.44476744186046,
"std_gray": 47.474134652381274
},
"geometry": {
"distance_to_center_norm": 0.2988838255405426,
@@ -748,7 +802,7 @@
"confidence": 0.24902550615732547
},
{
"observation_id": "7d333789-0ec1-4adc-a929-f76a5cf68cc7",
"observation_id": "d828dce3-c8f1-4fc8-9dd0-4f9a7dbff5b4",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 636.5,
"perimeter_px": 108.21402168273926,
"sharpness": {
"laplacian_var": 598.769370855703
"laplacian_var": 599.0581182017752
},
"contrast": {
"p05": 8.0,
"p95": 78.0,
"dynamic_range": 70.0,
"mean_gray": 35.67515923566879,
"std_gray": 28.932210811254524
"mean_gray": 35.67728237791932,
"std_gray": 28.934912936964782
},
"geometry": {
"distance_to_center_norm": 0.3999539613723755,
@@ -802,7 +856,7 @@
"confidence": 0.1717072854797086
},
{
"observation_id": "57ceb64f-09b9-4e22-8f46-6d01af4c0004",
"observation_id": "b661b4b1-38a9-4660-aeea-006e6ce5bf82",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -832,14 +886,14 @@
"area_px": 443.5,
"perimeter_px": 108.12868309020996,
"sharpness": {
"laplacian_var": 5640.742011019284
"laplacian_var": 5626.961432506887
},
"contrast": {
"p05": 22.45,
"p05": 22.0,
"p95": 173.0,
"dynamic_range": 150.55,
"mean_gray": 94.48787878787878,
"std_gray": 59.70687112164581
"dynamic_range": 151.0,
"mean_gray": 94.22727272727273,
"std_gray": 59.67066063859887
},
"geometry": {
"distance_to_center_norm": 0.20990434288978577,
@@ -856,7 +910,7 @@
"confidence": 0.2093822185726055
},
{
"observation_id": "35e0c1de-8fed-4d9a-8c86-3b38d73803ca",
"observation_id": "81910a7b-a094-4e3f-9904-a990a780fb80",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -886,14 +940,14 @@
"area_px": 440.0,
"perimeter_px": 106.54574584960938,
"sharpness": {
"laplacian_var": 3590.8840919670315
"laplacian_var": 3587.839139839907
},
"contrast": {
"p05": 23.0,
"p95": 179.0,
"dynamic_range": 156.0,
"mean_gray": 74.11480362537765,
"std_gray": 62.70926627640594
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 74.04833836858006,
"std_gray": 62.64755938290614
},
"geometry": {
"distance_to_center_norm": 0.48482945561408997,
@@ -910,7 +964,7 @@
"confidence": 0.16725963004706537
},
{
"observation_id": "e78ef00a-beef-4848-a38b-c8f8663076cd",
"observation_id": "36aaead4-769d-48fd-bd90-4e0b58636ca3",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -940,14 +994,14 @@
"area_px": 450.0,
"perimeter_px": 104.8877944946289,
"sharpness": {
"laplacian_var": 4139.5130098718755
"laplacian_var": 4148.822398655745
},
"contrast": {
"p05": 27.0,
"p05": 26.0,
"p95": 177.0,
"dynamic_range": 150.0,
"mean_gray": 88.50434782608696,
"std_gray": 61.76839029040196
"dynamic_range": 151.0,
"mean_gray": 87.96811594202899,
"std_gray": 62.00632621477606
},
"geometry": {
"distance_to_center_norm": 0.2882344722747803,
@@ -964,7 +1018,7 @@
"confidence": 0.22298824455832925
},
{
"observation_id": "29005bee-121b-49ae-b499-9d2701b1f2eb",
"observation_id": "c4cd60bd-3395-47e3-aeb9-dfbfd3d28063",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -994,14 +1048,14 @@
"area_px": 313.0,
"perimeter_px": 96.17921829223633,
"sharpness": {
"laplacian_var": 4910.08346868159
"laplacian_var": 4912.033048513523
},
"contrast": {
"p05": 15.0,
"p95": 155.0,
"dynamic_range": 140.0,
"mean_gray": 91.31932773109244,
"std_gray": 54.795484199190035
"std_gray": 54.79172678350083
},
"geometry": {
"distance_to_center_norm": 0.7751669883728027,
@@ -1018,7 +1072,7 @@
"confidence": 0.13595850692924102
},
{
"observation_id": "3adbc624-a548-46ff-8107-f2f714b62b9f",
"observation_id": "8f1fcdc1-07c7-478c-91f0-8b6b204f87af",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -1048,14 +1102,14 @@
"area_px": 564.5,
"perimeter_px": 100.97909736633301,
"sharpness": {
"laplacian_var": 3179.1891357498475
"laplacian_var": 3155.4324092327183
},
"contrast": {
"p05": 34.0,
"p95": 178.0,
"dynamic_range": 144.0,
"mean_gray": 84.89294403892944,
"std_gray": 61.369474360657826
"mean_gray": 84.88077858880779,
"std_gray": 61.34468763549915
},
"geometry": {
"distance_to_center_norm": 0.15911251306533813,
@@ -1072,7 +1126,7 @@
"confidence": 0.2298583378390498
},
{
"observation_id": "fcbc80bc-52f5-4293-8ea8-20c89b8e50cf",
"observation_id": "5923569e-ed26-4900-9fb4-eaf26bff079e",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -1102,14 +1156,14 @@
"area_px": 300.5,
"perimeter_px": 95.67129135131836,
"sharpness": {
"laplacian_var": 4738.917789176912
"laplacian_var": 4744.144803821756
},
"contrast": {
"p05": 18.0,
"p95": 140.0,
"dynamic_range": 122.0,
"mean_gray": 76.86283185840708,
"std_gray": 48.26598262447623
"mean_gray": 76.8141592920354,
"std_gray": 48.3129636265641
},
"geometry": {
"distance_to_center_norm": 0.31808528304100037,
@@ -1126,7 +1180,61 @@
"confidence": 0.17248468175234963
},
{
"observation_id": "5b244d03-f503-4361-a3e2-cf2c1ff8ce83",
"observation_id": "57457d6a-dca9-4d18-9676-53b40ddab0dd",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
588.0,
406.0
],
[
610.0,
414.0
],
[
628.0,
434.0
],
[
608.0,
426.0
]
],
"center_px": [
608.5,
420.0
],
"quality": {
"area_px": 268.0,
"perimeter_px": 100.14157676696777,
"sharpness": {
"laplacian_var": 4564.013605442177
},
"contrast": {
"p05": 38.0,
"p95": 132.0,
"dynamic_range": 94.0,
"mean_gray": 85.76719576719577,
"std_gray": 34.59896905013278
},
"geometry": {
"distance_to_center_norm": 0.09228643029928207,
"distance_to_border_px": 286.0
},
"edge_ratio": 1.313064345191561,
"edge_lengths_px": [
23.409399032592773,
26.90724754333496,
21.540658950805664,
28.284271240234375
]
},
"confidence": 0.13606847777181952
},
{
"observation_id": "2d6cc50e-932e-4b0e-b953-2244bdfbb8b8",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
@@ -1156,14 +1264,14 @@
"area_px": 297.0,
"perimeter_px": 92.35410118103027,
"sharpness": {
"laplacian_var": 6161.774061654949
"laplacian_var": 6183.6922444564625
},
"contrast": {
"p05": 30.0,
"p95": 178.0,
"dynamic_range": 148.0,
"mean_gray": 92.22325581395349,
"std_gray": 59.20556556651442
"mean_gray": 92.19534883720931,
"std_gray": 59.22522228840405
},
"geometry": {
"distance_to_center_norm": 0.20620082318782806,
@@ -1180,7 +1288,7 @@
"confidence": 0.12157403976480062
},
{
"observation_id": "b257701e-d5cf-4c8c-833c-9a0a96bbc26d",
"observation_id": "10bfb191-38a0-492b-b099-3f5d8f55d630",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -1210,14 +1318,14 @@
"area_px": 364.5,
"perimeter_px": 99.33988952636719,
"sharpness": {
"laplacian_var": 5461.123269896194
"laplacian_var": 5461.466249459343
},
"contrast": {
"p05": 23.0,
"p95": 179.0,
"dynamic_range": 156.0,
"mean_gray": 88.88970588235294,
"std_gray": 65.4384727630509
"mean_gray": 88.78676470588235,
"std_gray": 65.37875038036118
},
"geometry": {
"distance_to_center_norm": 0.34818607568740845,
@@ -1234,7 +1342,7 @@
"confidence": 0.14922985097126407
},
{
"observation_id": "e8b44df3-65fb-432e-9bfc-aa4ec85d9674",
"observation_id": "a4f3fcdd-03e3-4ee9-b1e1-08dce247b5b3",
"type": "aruco",
"marker_id": 122,
"marker_size_m": 0.025,
@@ -1264,14 +1372,14 @@
"area_px": 509.0,
"perimeter_px": 98.6268835067749,
"sharpness": {
"laplacian_var": 586.2660619803477
"laplacian_var": 586.4522269813275
},
"contrast": {
"p05": 11.0,
"p95": 82.0,
"dynamic_range": 71.0,
"mean_gray": 33.01322751322751,
"std_gray": 27.984828366164543
"mean_gray": 33.007936507936506,
"std_gray": 27.981994219567433
},
"geometry": {
"distance_to_center_norm": 0.18844009935855865,
@@ -1288,7 +1396,7 @@
"confidence": 0.1374474660290558
},
{
"observation_id": "5cc4c46e-38e6-4d0c-8e5b-ad2c0298e003",
"observation_id": "983c9260-ee2e-49b2-9130-ffb97aea6d3b",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -1318,14 +1426,14 @@
"area_px": 283.0,
"perimeter_px": 88.51022148132324,
"sharpness": {
"laplacian_var": 5927.498845320012
"laplacian_var": 5918.765482137807
},
"contrast": {
"p05": 29.0,
"p95": 179.0,
"dynamic_range": 150.0,
"mean_gray": 124.41747572815534,
"std_gray": 57.40522358286679
"mean_gray": 124.4126213592233,
"std_gray": 57.39219218845397
},
"geometry": {
"distance_to_center_norm": 0.2656901776790619,
@@ -1342,7 +1450,7 @@
"confidence": 0.11373255626245794
},
{
"observation_id": "73f51982-82b1-484a-99df-ba16cf7f2ae2",
"observation_id": "a0c76c73-8979-4a61-95bf-d17e3d792fc9",
"type": "aruco",
"marker_id": 60,
"marker_size_m": 0.025,
@@ -1396,7 +1504,7 @@
"confidence": 0.1208904643109979
},
{
"observation_id": "a1ea3edd-3a9f-4a5d-85eb-743202da150d",
"observation_id": "fd4fd634-9c9e-4555-b91c-718cd9fcc551",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -1450,7 +1558,7 @@
"confidence": 0.15549629518828512
},
{
"observation_id": "7867756a-d0c9-4e96-aa6f-1885973ff5cd",
"observation_id": "4f1db03c-8bcc-4d72-96ef-9e043013c46d",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
@@ -1480,14 +1588,14 @@
"area_px": 264.0,
"perimeter_px": 89.57206344604492,
"sharpness": {
"laplacian_var": 3848.9887886845204
"laplacian_var": 3847.8507716345493
},
"contrast": {
"p05": 12.0,
"p95": 131.0,
"dynamic_range": 119.0,
"mean_gray": 61.94764397905759,
"std_gray": 46.09661356767198
"mean_gray": 61.93717277486911,
"std_gray": 46.12827811948521
},
"geometry": {
"distance_to_center_norm": 0.18333308398723602,
@@ -1504,7 +1612,7 @@
"confidence": 0.13332463075982282
},
{
"observation_id": "0db37fb8-6ad5-4ced-96d7-7b8ff13f1019",
"observation_id": "ae1a0231-236a-4df5-9a8c-0f5f102d6697",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -1534,14 +1642,14 @@
"area_px": 253.0,
"perimeter_px": 89.29376602172852,
"sharpness": {
"laplacian_var": 6541.367470227771
"laplacian_var": 6538.447450572322
},
"contrast": {
"p05": 16.0,
"p95": 153.0,
"dynamic_range": 137.0,
"mean_gray": 84.08064516129032,
"std_gray": 52.320958933010665
"mean_gray": 84.08602150537635,
"std_gray": 52.32017968672461
},
"geometry": {
"distance_to_center_norm": 0.6974908709526062,
@@ -1558,7 +1666,7 @@
"confidence": 0.13255097071329755
},
{
"observation_id": "848bb571-2e54-474f-89ae-704020f2aaa4",
"observation_id": "82e2b923-ec35-4d93-86da-a44a35959076",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -1612,7 +1720,7 @@
"confidence": 0.1265670983135443
},
{
"observation_id": "74036fa3-4dc1-4374-9b33-fde262445c0e",
"observation_id": "f510e122-9360-430e-b678-3fc452cd914c",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -1642,14 +1750,14 @@
"area_px": 236.5,
"perimeter_px": 85.49073791503906,
"sharpness": {
"laplacian_var": 8047.443895002974
"laplacian_var": 8043.836815883403
},
"contrast": {
"p05": 23.0,
"p95": 179.0,
"dynamic_range": 156.0,
"mean_gray": 91.1890243902439,
"std_gray": 60.69009342974849
"mean_gray": 91.17073170731707,
"std_gray": 60.684269846325726
},
"geometry": {
"distance_to_center_norm": 0.3623812198638916,
@@ -1982,15 +2090,15 @@
368.0
],
[
783.0,
365.0
780.0,
364.0
]
],
"center_px": [
788.5,
364.5
787.75,
364.25
],
"area_px": 50.0
"area_px": 49.0
},
{
"image_points_px": [

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:28Z",
"created_utc": "2026-06-01T19:31:56Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -71,10 +71,10 @@
3
],
"rms": [
0.007095341925032369,
0.0013349437109003125,
0.0012927816364674517,
0.0012927812569370745
0.006796723717485969,
0.0003745323491999978,
0.00020061727806743257,
0.00020061571886173784
],
"lambda": [
0.001,
@@ -83,135 +83,135 @@
0.000125
]
},
"residual_rms_px": 2.7749011523490723,
"residual_median_px": 2.078164275946058,
"residual_max_px": 5.196564935359262,
"sigma2_normalized": 1.910038146612797e-06
"residual_rms_px": 0.5043766212268677,
"residual_median_px": 0.38292305323126236,
"residual_max_px": 0.9814498981919079,
"sigma2_normalized": 4.599619046205227e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.6307641863822937,
0.7759707570075989,
-0.002437180606648326
0.6289841532707214,
0.7774180173873901,
0.000434672023402527
],
[
0.24203786253929138,
-0.19972774386405945,
-0.9494875073432922
0.20659156143665314,
-0.1666075885295868,
-0.964137852191925
],
[
-0.7372612953186035,
0.5983127951622009,
-0.31379541754722595
-0.7494657039642334,
0.6065172553062439,
-0.26540154218673706
]
],
"translation_m": [
-0.055692028254270554,
-0.010053127072751522,
1.5426626205444336
-0.05472467094659805,
-0.01264093816280365,
1.5504847764968872
],
"rvec_rad": [
1.7490034211859098,
0.8303460658691646,
-0.6033404001661316
1.7012126314536538,
0.8122343178123766,
-0.6182752069492911
]
},
"camera_in_world": {
"position_m": [
1.1749072074890137,
-0.8817873001098633,
0.4743994176387787
1.1990675926208496,
-0.8999578952789307,
0.3993372321128845
],
"position_mm": [
1174.9072265625,
-881.7872924804688,
474.3994140625
1199.067626953125,
-899.9578857421875,
399.33721923828125
],
"orientation_deg": {
"roll": 117.67552947998047,
"pitch": 47.49863815307617,
"yaw": 20.992887496948242
"roll": 113.63335418701172,
"pitch": 48.54411697387695,
"yaw": 18.182907104492188
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.663846922649341e-06,
1.2187131020285088e-06,
1.418825051755898e-06,
-1.6252114155662747e-07,
-1.6271670193759301e-06,
6.978917567451072e-07
1.2717291187350867e-07,
2.427780874896666e-08,
3.113845474419147e-08,
-4.673332748193887e-09,
-3.7892380318380985e-08,
1.3467874516895867e-08
],
[
1.2187131020285183e-06,
4.122558930254296e-06,
1.5390128559489638e-07,
1.0002999823743167e-06,
-1.1337782962224744e-06,
8.312992703514572e-07
2.427780874896655e-08,
9.995384156486317e-08,
1.3154364623191546e-09,
2.4667623412376172e-08,
-2.6975506369930083e-08,
1.955433544702994e-08
],
[
1.418825051755848e-06,
1.5390128559490705e-07,
7.880821288709876e-06,
-1.2441730290158325e-06,
-1.3484606758105873e-06,
-9.509612049445034e-07
3.113845474419129e-08,
1.3154364623194096e-09,
1.7087904832897105e-07,
-2.9090501327472707e-08,
-2.9863326832524456e-08,
-2.129084618225427e-08
],
[
-1.6252114155663952e-07,
1.0002999823743398e-06,
-1.244173029015829e-06,
6.006266124768371e-07,
2.2984016135938396e-08,
6.438843290101196e-07
-4.6733327481943426e-09,
2.4667623412376583e-08,
-2.9090501327472498e-08,
1.4759067910272768e-08,
3.9028947201990606e-10,
1.570716584717209e-08
],
[
-1.6271670193759244e-06,
-1.1337782962224748e-06,
-1.3484606758105964e-06,
2.2984016135940418e-08,
9.18643775595386e-07,
2.5772987300597183e-07
-3.7892380318380886e-08,
-2.697550636993014e-08,
-2.986332683252442e-08,
3.9028947201990363e-10,
2.1908453591880034e-08,
5.181289716536058e-09
],
[
6.978917567451163e-07,
8.312992703514586e-07,
-9.509612049445044e-07,
6.438843290101158e-07,
2.577298730059702e-07,
4.274426720275254e-06
1.3467874516896066e-08,
1.9554335447029862e-08,
-2.1290846182254186e-08,
1.570716584717197e-08,
5.1812897165360286e-09,
1.0525946040964363e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.1363572977261127,
0.11633384131256229,
0.16084529887405638
0.020432426254555238,
0.018114334263151947,
0.02368465378548544
],
"tvec_std_m": [
0.0007750010403069387,
0.0009584590630774931,
0.0020674686745571877
0.00012148690427479321,
0.0001480150451537952,
0.00032443714400426414
]
},
"camera_center_std_m": [
0.00252614437881669,
0.002300959332032644,
0.0030076833004178947
0.00040257277463770567,
0.00032790796768880057,
0.0004672187375506214
],
"camera_center_std_mm": [
2.52614437881669,
2.300959332032644,
3.0076833004178947
0.4025727746377057,
0.3279079676888006,
0.46721873755062143
],
"orientation_std_deg": {
"roll": 0.18862165343992418,
"pitch": 0.14056395002412728,
"yaw": 0.17916027863716213
"roll": 0.033455540104771676,
"pitch": 0.020110839548817684,
"yaw": 0.02746420892650435
}
}
},
@@ -224,10 +224,10 @@
688.5
],
"projected_center_px": [
1022.8868408203125,
684.736328125
1023.0628662109375,
688.424072265625
],
"reprojection_error_px": 3.7653726220141297,
"reprojection_error_px": 0.09857576438942181,
"confidence": 0.15369374989294518
},
{
@@ -237,10 +237,10 @@
600.5
],
"projected_center_px": [
1140.9591064453125,
605.114501953125
1140.811279296875,
600.3157348632812
],
"reprojection_error_px": 4.623661680481518,
"reprojection_error_px": 0.47584608431768566,
"confidence": 0.3233651345714012
},
{
@@ -250,10 +250,10 @@
654.75
],
"projected_center_px": [
761.7445068359375,
652.6561889648438
761.2347412109375,
655.086669921875
],
"reprojection_error_px": 2.4357425799203933,
"reprojection_error_px": 0.8082025014470213,
"confidence": 0.420622587927407
},
{
@@ -263,24 +263,24 @@
665.5
],
"projected_center_px": [
675.7681884765625,
663.0847778320312
675.01904296875,
665.3643188476562
],
"reprojection_error_px": 2.5344450390906257,
"reprojection_error_px": 0.13701098408573442,
"confidence": 0.3128949822399185
},
{
"marker_id": 206,
"observed_center_px": [
1223.5,
1222.5,
566.75
],
"projected_center_px": [
1222.654541015625,
571.3515625
1222.410888671875,
566.8724975585938
],
"reprojection_error_px": 4.678587215780706,
"confidence": 0.11623157468788738
"reprojection_error_px": 0.1514809580826271,
"confidence": 0.15136171428561934
},
{
"marker_id": 97,
@@ -289,10 +289,10 @@
578.0
],
"projected_center_px": [
411.7170715332031,
577.7417602539062
411.4060974121094,
578.2946166992188
],
"reprojection_error_px": 0.7621544136150133,
"reprojection_error_px": 0.5017111794453887,
"confidence": 0.22596816505744277
},
{
@@ -302,10 +302,10 @@
569.25
],
"projected_center_px": [
543.9366455078125,
568.3673095703125
543.713623046875,
569.260986328125
],
"reprojection_error_px": 0.902207814335749,
"reprojection_error_px": 0.037999764793069615,
"confidence": 0.24626971873720385
},
{
@@ -315,10 +315,10 @@
544.25
],
"projected_center_px": [
690.1197509765625,
543.3026123046875
690.0404663085938,
544.4671020507812
],
"reprojection_error_px": 0.9562992488420937,
"reprojection_error_px": 0.30172449069930346,
"confidence": 0.2205630261207473
},
{
@@ -328,10 +328,10 @@
467.5
],
"projected_center_px": [
777.5751953125,
472.5607604980469
777.5697021484375,
467.1872863769531
],
"reprojection_error_px": 5.1445661166529515,
"reprojection_error_px": 0.9814498981919079,
"confidence": 0.22017552547080893
},
{
@@ -341,10 +341,10 @@
556.0
],
"projected_center_px": [
738.748779296875,
554.3997802734375
738.606689453125,
555.7977294921875
],
"reprojection_error_px": 1.6002201921597794,
"reprojection_error_px": 0.24789366909289595,
"confidence": 0.24902550615732547
},
{
@@ -354,10 +354,10 @@
511.75
],
"projected_center_px": [
665.9569702148438,
510.8033447265625
666.0765991210938,
511.6878967285156
],
"reprojection_error_px": 1.408569252628397,
"reprojection_error_px": 0.9254868986073747,
"confidence": 0.2093822185726055
},
{
@@ -367,10 +367,10 @@
537.25
],
"projected_center_px": [
330.6866760253906,
537.0372924804688
330.92333984375,
537.0352172851562
],
"reprojection_error_px": 0.6021448241368856,
"reprojection_error_px": 0.39094561293986413,
"confidence": 0.16725963004706537
},
{
@@ -380,10 +380,10 @@
534.0
],
"projected_center_px": [
519.3466796875,
533.4042358398438
519.4425048828125,
533.968017578125
],
"reprojection_error_px": 0.6151764403419393,
"reprojection_error_px": 0.06579182175160403,
"confidence": 0.22298824455832925
},
{
@@ -393,10 +393,10 @@
466.0
],
"projected_center_px": [
1200.085205078125,
463.62249755859375
1199.552001953125,
465.9305725097656
],
"reprojection_error_px": 2.5199375749050743,
"reprojection_error_px": 0.30987958321186465,
"confidence": 0.13595850692924102
},
{
@@ -406,10 +406,10 @@
444.5
],
"projected_center_px": [
858.741943359375,
449.60101318359375
858.6062622070312,
444.6478271484375
],
"reprojection_error_px": 5.196564935359262,
"reprojection_error_px": 0.8689291300245319,
"confidence": 0.17248468175234963
},
{
@@ -419,10 +419,10 @@
463.25
],
"projected_center_px": [
528.1810913085938,
462.8843994140625
528.8941650390625,
463.13134765625
],
"reprojection_error_px": 1.12970331459267,
"reprojection_error_px": 0.3750958518869015,
"confidence": 0.12157403976480062
},
{
@@ -432,10 +432,10 @@
498.75
],
"projected_center_px": [
425.3331298828125,
498.75323486328125
425.9017333984375,
498.8298034667969
],
"reprojection_error_px": 0.08319279870799132,
"reprojection_error_px": 0.6566011087042826,
"confidence": 0.14922985097126407
},
{
@@ -445,10 +445,10 @@
447.25
],
"projected_center_px": [
464.1731262207031,
447.00830078125
465.2051086425781,
447.0129699707031
],
"reprojection_error_px": 1.3487077290984628,
"reprojection_error_px": 0.3783439539236665,
"confidence": 0.11373255626245794
},
{
@@ -458,10 +458,10 @@
431.0
],
"projected_center_px": [
1196.6109619140625,
428.8692932128906
1195.8790283203125,
431.05682373046875
],
"reprojection_error_px": 2.298078943400361,
"reprojection_error_px": 0.14098667946671503,
"confidence": 0.1208904643109979
},
{
@@ -471,10 +471,10 @@
455.5
],
"projected_center_px": [
1134.412109375,
453.6326904296875
1133.9239501953125,
455.70294189453125
],
"reprojection_error_px": 2.0781695174704935,
"reprojection_error_px": 0.47002040451605914,
"confidence": 0.15549629518828512
},
{
@@ -484,10 +484,10 @@
413.0
],
"projected_center_px": [
763.891845703125,
417.86798095703125
764.12890625,
412.9070129394531
],
"reprojection_error_px": 4.870047104650417,
"reprojection_error_px": 0.39014938128646404,
"confidence": 0.13332463075982282
},
{
@@ -497,10 +497,10 @@
429.0
],
"projected_center_px": [
1148.4207763671875,
427.11407470703125
1147.78271484375,
429.1512756347656
],
"reprojection_error_px": 2.0987003904869974,
"reprojection_error_px": 0.32064310463555845,
"confidence": 0.13255097071329755
},
{
@@ -510,10 +510,10 @@
408.75
],
"projected_center_px": [
1127.431396484375,
406.6729736328125
1126.7515869140625,
408.60955810546875
],
"reprojection_error_px": 2.078159034421623,
"reprojection_error_px": 0.7614762458159929,
"confidence": 0.1265670983135443
},
{
@@ -523,10 +523,10 @@
409.25
],
"projected_center_px": [
377.0504150390625,
409.83306884765625
378.78729248046875,
409.5100402832031
],
"reprojection_error_px": 1.5624550681806375,
"reprojection_error_px": 0.3875021525388582,
"confidence": 0.09620577544552089
}
]

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:25Z",
"created_utc": "2026-06-01T19:31:52Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,7 +35,7 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_f.png",
"image_sha256": "27a53f6a3c44d4dbe0eee4035fc45c81c1862a721997b1353cdc170751531c25",
"image_sha256": "f329ce8c039e3611cde2e6a8de66a3fb75112c50deed4734c9b21fba89656d02",
"width_px": 1280,
"height_px": 720
},
@@ -46,7 +46,7 @@
},
"detections": [
{
"observation_id": "b692e820-943c-443a-93c1-ab9cf072223b",
"observation_id": "2a8d0727-bf79-4bb8-b6a4-4f3ff5257860",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1364.0,
"perimeter_px": 148.0306053161621,
"sharpness": {
"laplacian_var": 3227.5051808222574
"laplacian_var": 3228.5182812589387
},
"contrast": {
"p05": 73.0,
"p95": 192.0,
"dynamic_range": 119.0,
"mean_gray": 117.83842794759825,
"std_gray": 50.76502173337254
"std_gray": 50.765924936383804
},
"geometry": {
"distance_to_center_norm": 0.30916711688041687,
@@ -100,7 +100,7 @@
"confidence": 0.850354724870378
},
{
"observation_id": "c8cb0486-8380-42ef-a2ec-8bd83cf4ed68",
"observation_id": "4ca6ecba-1724-49e6-a0c1-084ada1e5db5",
"type": "aruco",
"marker_id": 41,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 847.0,
"perimeter_px": 121.71682739257812,
"sharpness": {
"laplacian_var": 1506.861052631579
"laplacian_var": 1507.8680701754388
},
"contrast": {
"p05": 19.0,
"p95": 136.0,
"dynamic_range": 117.0,
"mean_gray": 52.57017543859649,
"std_gray": 41.99406167255908
"mean_gray": 52.5719298245614,
"std_gray": 41.99719186262282
},
"geometry": {
"distance_to_center_norm": 0.2223740816116333,
@@ -154,7 +154,7 @@
"confidence": 0.3023072583773299
},
{
"observation_id": "5f08a3e6-f8f1-427f-a9a0-599da1ef647c",
"observation_id": "a083ce5b-37fc-4841-865f-b5044e29344f",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.2988751797371847
},
{
"observation_id": "eb435cda-5ceb-41bc-8e8d-94405295608c",
"observation_id": "b267868e-b86a-4654-ab4d-467e56093933",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
@@ -262,7 +262,7 @@
"confidence": 0.5697620483284124
},
{
"observation_id": "fa8a4389-f47a-4464-839c-7fa213b4a673",
"observation_id": "9c76aa98-02ab-4656-8401-f92c7171a489",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 912.0,
"perimeter_px": 120.84554862976074,
"sharpness": {
"laplacian_var": 1802.1494048483087
"laplacian_var": 1803.8428631695458
},
"contrast": {
"p05": 12.0,
"p95": 145.0,
"dynamic_range": 133.0,
"mean_gray": 55.295180722891565,
"std_gray": 54.915407901310715
"mean_gray": 55.28463855421687,
"std_gray": 54.91281703636554
},
"geometry": {
"distance_to_center_norm": 0.3649789094924927,
@@ -316,7 +316,61 @@
"confidence": 0.5829305549976826
},
{
"observation_id": "fadb8bf3-766f-465b-916a-626bbd838067",
"observation_id": "e37e2597-10ca-45e4-9dab-95713ec868ac",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
731.0,
642.0
],
[
760.0,
633.0
],
[
770.0,
661.0
],
[
742.0,
671.0
]
],
"center_px": [
750.75,
651.75
],
"quality": {
"area_px": 912.0,
"perimeter_px": 120.84485244750977,
"sharpness": {
"laplacian_var": 1921.1191904573463
},
"contrast": {
"p05": 24.0,
"p95": 173.0,
"dynamic_range": 149.0,
"mean_gray": 47.443609022556394,
"std_gray": 48.356821218971035
},
"geometry": {
"distance_to_center_norm": 0.424979567527771,
"distance_to_border_px": 49.0
},
"edge_ratio": 1.0431851573911375,
"edge_lengths_px": [
30.364452362060547,
29.73213768005371,
29.73213768005371,
31.016124725341797
]
},
"confidence": 0.5711737708098855
},
{
"observation_id": "c9f2fba8-95a9-49b6-ba6a-addfbfb2252d",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -346,14 +400,14 @@
"area_px": 902.5,
"perimeter_px": 120.18319702148438,
"sharpness": {
"laplacian_var": 2762.5349763349386
"laplacian_var": 2768.1846824619074
},
"contrast": {
"p05": 32.0,
"p95": 178.0,
"dynamic_range": 146.0,
"mean_gray": 80.91476407914764,
"std_gray": 61.77175085453998
"mean_gray": 80.882800608828,
"std_gray": 61.76197713689439
},
"geometry": {
"distance_to_center_norm": 0.3646650016307831,
@@ -370,61 +424,7 @@
"confidence": 0.5768583617164568
},
{
"observation_id": "18122e61-ee7f-4081-b50d-e723ea6f4497",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
732.0,
642.0
],
[
760.0,
633.0
],
[
770.0,
661.0
],
[
742.0,
671.0
]
],
"center_px": [
751.0,
651.75
],
"quality": {
"area_px": 893.0,
"perimeter_px": 119.55088233947754,
"sharpness": {
"laplacian_var": 1943.5244603528427
},
"contrast": {
"p05": 24.0,
"p95": 173.0,
"dynamic_range": 149.0,
"mean_gray": 48.010802469135804,
"std_gray": 48.85571671919436
},
"geometry": {
"distance_to_center_norm": 0.42510050535202026,
"distance_to_border_px": 49.0
},
"edge_ratio": 1.043005886014016,
"edge_lengths_px": [
29.4108829498291,
29.73213768005371,
29.73213768005371,
30.675724029541016
]
},
"confidence": 0.5593704450665263
},
{
"observation_id": "bc5f689c-f497-4532-80d1-dd04edbeaa2e",
"observation_id": "7bd5400e-a94b-4cd0-9e6e-889c38f93172",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 893.0,
"perimeter_px": 119.5506706237793,
"sharpness": {
"laplacian_var": 2063.073994660255
"laplacian_var": 2064.3647090033364
},
"contrast": {
"p05": 35.0,
"p95": 178.0,
"dynamic_range": 143.0,
"mean_gray": 64.78315132605304,
"std_gray": 52.03063507216668
"mean_gray": 64.77535101404057,
"std_gray": 52.03964123456451
},
"geometry": {
"distance_to_center_norm": 0.4033917188644409,
@@ -478,7 +478,7 @@
"confidence": 0.5766374039623903
},
{
"observation_id": "025466dc-8c10-42eb-80e1-40f666094ab5",
"observation_id": "c26a0a95-0bbd-440a-a258-6cc80f50e6d6",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.21364841201201337
},
{
"observation_id": "35007e1d-283e-4aa7-bc58-833113b81bd3",
"observation_id": "56f82b04-b73d-496b-b6d9-ecd8ac5d4152",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 883.5,
"perimeter_px": 118.95157814025879,
"sharpness": {
"laplacian_var": 2554.664036881293
"laplacian_var": 2554.6267698005477
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 78.6692546583851,
"std_gray": 62.81401304524487
"mean_gray": 78.66770186335404,
"std_gray": 62.81512962356601
},
"geometry": {
"distance_to_center_norm": 0.08693984150886536,
@@ -586,7 +586,7 @@
"confidence": 0.5464657910873614
},
{
"observation_id": "d99b116c-e245-41f8-83c9-ea3b6061e5ed",
"observation_id": "098d3e8d-b0c1-4d8b-8f0d-a128abaff0f2",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 883.5,
"perimeter_px": 118.91835594177246,
"sharpness": {
"laplacian_var": 2660.0162285430574
"laplacian_var": 2657.272976847311
},
"contrast": {
"p05": 39.0,
"p95": 180.0,
"dynamic_range": 141.0,
"mean_gray": 104.5631825273011,
"std_gray": 63.931585058018435
"mean_gray": 104.53354134165366,
"std_gray": 63.91462139586315
},
"geometry": {
"distance_to_center_norm": 0.3904455602169037,
@@ -640,7 +640,7 @@
"confidence": 0.5705029634947052
},
{
"observation_id": "7ce8593d-fec2-4640-afaa-d510ffc06456",
"observation_id": "5e323a72-2c44-404b-b468-22d364bfa8d3",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -694,61 +694,7 @@
"confidence": 0.5440516905787338
},
{
"observation_id": "e2eba250-5e42-4a2b-a480-1e661be24ca0",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
580.0,
534.0
],
[
608.0,
524.0
],
[
618.0,
552.0
],
[
589.0,
561.0
]
],
"center_px": [
598.75,
542.75
],
"quality": {
"area_px": 874.0,
"perimeter_px": 118.28922653198242,
"sharpness": {
"laplacian_var": 2676.8246345669586
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 89.43285939968405,
"std_gray": 63.56665341033047
},
"geometry": {
"distance_to_center_norm": 0.2551368772983551,
"distance_to_border_px": 159.0
},
"edge_ratio": 1.0668981090236382,
"edge_lengths_px": [
29.73213768005371,
29.73213768005371,
30.364452362060547,
28.460498809814453
]
},
"confidence": 0.5461315019106076
},
{
"observation_id": "1e3b6db9-8873-4bc2-9b38-37b1f5c2ce1d",
"observation_id": "2eb6590f-d013-4801-974c-294316d7a948",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -778,14 +724,14 @@
"area_px": 874.0,
"perimeter_px": 118.28604125976562,
"sharpness": {
"laplacian_var": 2517.0525056080755
"laplacian_var": 2518.246872997116
},
"contrast": {
"p05": 26.0,
"p95": 175.0,
"dynamic_range": 149.0,
"mean_gray": 89.73892405063292,
"std_gray": 67.28467675053966
"mean_gray": 89.71835443037975,
"std_gray": 67.28232444039241
},
"geometry": {
"distance_to_center_norm": 0.36455342173576355,
@@ -802,7 +748,61 @@
"confidence": 0.5763709732716893
},
{
"observation_id": "317bcb38-4b5c-4df2-a7cd-9608db191e71",
"observation_id": "406545f9-4df1-4635-81dd-4e72d9c5a319",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
580.0,
534.0
],
[
608.0,
524.0
],
[
617.0,
552.0
],
[
589.0,
561.0
]
],
"center_px": [
598.5,
542.75
],
"quality": {
"area_px": 855.5,
"perimeter_px": 117.01440238952637,
"sharpness": {
"laplacian_var": 2664.507264459966
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 90.6904376012966,
"std_gray": 63.65501470595472
},
"geometry": {
"distance_to_center_norm": 0.25521203875541687,
"distance_to_border_px": 159.0
},
"edge_ratio": 1.0446808356640869,
"edge_lengths_px": [
29.73213768005371,
29.4108829498291,
29.4108829498291,
28.460498809814453
]
},
"confidence": 0.5459402660246769
},
{
"observation_id": "1720e5f9-2ead-4a82-bd55-018165815177",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 585.5,
"perimeter_px": 116.89850807189941,
"sharpness": {
"laplacian_var": 3624.8468728428306
"laplacian_var": 3627.5501147380924
},
"contrast": {
"p05": 33.0,
"p95": 190.0,
"dynamic_range": 157.0,
"mean_gray": 87.31670822942644,
"std_gray": 64.61624252571332
"mean_gray": 87.3142144638404,
"std_gray": 64.61808786435712
},
"geometry": {
"distance_to_center_norm": 0.30038711428642273,
@@ -856,7 +856,7 @@
"confidence": 0.2932628535560303
},
{
"observation_id": "0067d828-93d9-42c6-a0f8-8f92c60fe7ad",
"observation_id": "5bc08370-ea36-47b5-bef0-080d37206e25",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.06519221426443914
},
{
"observation_id": "e88fa055-3e8d-4ae8-b351-530496cb5a3d",
"observation_id": "b20314dc-0558-4337-a86e-f98da0130026",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 846.5,
"perimeter_px": 116.4027042388916,
"sharpness": {
"laplacian_var": 3363.1732604258514
"laplacian_var": 3358.4696762573444
},
"contrast": {
"p05": 26.0,
"p05": 25.0,
"p95": 175.0,
"dynamic_range": 149.0,
"mean_gray": 99.23316912972085,
"std_gray": 64.63837627900452
"dynamic_range": 150.0,
"mean_gray": 99.04269293924466,
"std_gray": 64.64526024052971
},
"geometry": {
"distance_to_center_norm": 0.26983729004859924,
@@ -964,7 +964,7 @@
"confidence": 0.5460974493377216
},
{
"observation_id": "ace2036b-21f1-409b-8d25-531f5a599d13",
"observation_id": "76aeb719-b188-42ab-85eb-5293d742bec1",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 838.0,
"perimeter_px": 115.8120174407959,
"sharpness": {
"laplacian_var": 2222.0612838076404
"laplacian_var": 2223.549399053739
},
"contrast": {
"p05": 43.0,
"p95": 182.0,
"dynamic_range": 139.0,
"mean_gray": 85.60168067226891,
"std_gray": 57.85354732729715
"mean_gray": 85.58319327731093,
"std_gray": 57.838846414056896
},
"geometry": {
"distance_to_center_norm": 0.31469058990478516,
@@ -1018,7 +1018,7 @@
"confidence": 0.5349107016469481
},
{
"observation_id": "7cb60d0f-3d2c-40ae-9708-4f320ee5edf1",
"observation_id": "4ebc6b18-4608-4b8d-b5d3-38ccb97c2fe2",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 819.0,
"perimeter_px": 114.49213600158691,
"sharpness": {
"laplacian_var": 2506.9708349769885
"laplacian_var": 2507.230664036818
},
"contrast": {
"p05": 38.0,
"p95": 182.0,
"dynamic_range": 144.0,
"mean_gray": 93.93333333333334,
"std_gray": 63.50589716206657
"p95": 181.0,
"dynamic_range": 143.0,
"mean_gray": 93.85641025641026,
"std_gray": 63.451845102745445
},
"geometry": {
"distance_to_center_norm": 0.1608557105064392,
@@ -1072,7 +1072,7 @@
"confidence": 0.5227826547122322
},
{
"observation_id": "57929e2e-daec-42e0-b7c4-8c0a288c193b",
"observation_id": "46214a6d-c5a0-4be6-ab7f-c9ee6017e3fa",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 783.0,
"perimeter_px": 111.9482650756836,
"sharpness": {
"laplacian_var": 2587.882879636393
"laplacian_var": 2586.4666634201767
},
"contrast": {
"p05": 34.0,
"p95": 182.0,
"dynamic_range": 148.0,
"mean_gray": 118.48108108108109,
"std_gray": 65.35762397336578
"mean_gray": 118.47567567567567,
"std_gray": 65.36718770260096
},
"geometry": {
"distance_to_center_norm": 0.07005522400140762,
@@ -1126,7 +1126,7 @@
"confidence": 0.5046333482067283
},
{
"observation_id": "33c8d8ff-3409-462e-91d5-59065c532b88",
"observation_id": "2ffc4199-30e7-4241-adfa-0335e09b6a9e",
"type": "aruco",
"marker_id": 52,
"marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.4723088830007061
},
{
"observation_id": "e972de75-cbe8-4adb-acb1-5ac102dbb06c",
"observation_id": "f7e333b0-5bb0-42ad-b666-2e4eb0e0b19b",
"type": "aruco",
"marker_id": 73,
"marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
"confidence": 0.13607001327160623
},
{
"observation_id": "62901942-1493-4f5f-8f08-24a28c275c68",
"observation_id": "27055d16-ed3f-40d3-8cd9-2d67c3eeba31",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
"confidence": 0.46988879526830113
},
{
"observation_id": "0beb85e9-1740-426c-b7d1-2228ad200a96",
"observation_id": "e407bed6-2b00-4fd6-a618-c3d6f3bc781c",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 748.0,
"perimeter_px": 109.43704223632812,
"sharpness": {
"laplacian_var": 2757.5715566221866
"laplacian_var": 2757.4905701976318
},
"contrast": {
"p05": 37.0,
"p95": 183.0,
"dynamic_range": 146.0,
"mean_gray": 90.97528517110266,
"std_gray": 62.23640503443859
"mean_gray": 90.97718631178707,
"std_gray": 62.229578112688166
},
"geometry": {
"distance_to_center_norm": 0.16754259169101715,
@@ -1342,7 +1342,7 @@
"confidence": 0.4655541127751829
},
{
"observation_id": "f73fbd6a-0a4c-44dc-a190-638c0a7ff53f",
"observation_id": "2e1ede3a-c7fe-439b-90ef-85bf1ba0e1c8",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
@@ -1372,14 +1372,14 @@
"area_px": 748.0,
"perimeter_px": 109.43704223632812,
"sharpness": {
"laplacian_var": 2619.252494338006
"laplacian_var": 2619.733639627118
},
"contrast": {
"p05": 43.0,
"p95": 184.0,
"dynamic_range": 141.0,
"mean_gray": 95.33396584440227,
"std_gray": 60.17399221989553
"mean_gray": 95.3225806451613,
"std_gray": 60.163268710062376
},
"geometry": {
"distance_to_center_norm": 0.2758673429489136,
@@ -1396,7 +1396,7 @@
"confidence": 0.4655541127751829
},
{
"observation_id": "e9dbedb1-bf63-489a-8cae-e087461fdc0c",
"observation_id": "33020ba4-ed59-4050-be29-687541b8a0bf",
"type": "aruco",
"marker_id": 82,
"marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
"confidence": 0.49001748422717006
},
{
"observation_id": "8b088a43-cdb6-422f-8af6-3f10b66ed956",
"observation_id": "0eb323eb-9b86-4903-8e6a-832bad60ccda",
"type": "aruco",
"marker_id": 101,
"marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
"confidence": 0.46225891142368675
},
{
"observation_id": "556255e3-e0cd-40f1-823f-b257acf2a73a",
"observation_id": "b58a9d3d-e3ea-4fef-b1f4-debc45a55196",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 721.5,
"perimeter_px": 107.59993743896484,
"sharpness": {
"laplacian_var": 2673.737962944809
"laplacian_var": 2674.3662150769533
},
"contrast": {
"p05": 35.0,
"p95": 183.0,
"dynamic_range": 148.0,
"mean_gray": 90.34059405940594,
"std_gray": 63.31876636436088
"mean_gray": 90.34257425742574,
"std_gray": 63.31705125408015
},
"geometry": {
"distance_to_center_norm": 0.2656291127204895,
@@ -1558,7 +1558,7 @@
"confidence": 0.43211414091114625
},
{
"observation_id": "e664659a-d231-47bb-a0f0-4a2ee611e4e1",
"observation_id": "29765d94-4fb4-4602-abd7-a04e692936c8",
"type": "aruco",
"marker_id": 81,
"marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 715.0,
"perimeter_px": 106.99296569824219,
"sharpness": {
"laplacian_var": 533.7372646340822
"laplacian_var": 533.1577877729152
},
"contrast": {
"p05": 3.0,
"p95": 79.0,
"dynamic_range": 76.0,
"mean_gray": 29.185110663983902,
"std_gray": 31.017194226167682
"mean_gray": 29.183098591549296,
"std_gray": 31.015292457977264
},
"geometry": {
"distance_to_center_norm": 0.5639258027076721,
@@ -1612,7 +1612,7 @@
"confidence": 0.4468602604238168
},
{
"observation_id": "5032ce03-aa16-4b13-bfbe-16806d4ffeaa",
"observation_id": "6f9da7d0-5b62-4aad-b419-b2e0485ec322",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
"confidence": 0.4377857805109236
},
{
"observation_id": "f775f2d4-3851-46d0-9958-9cb93bb49665",
"observation_id": "23836056-6e03-4a5b-b241-e67e295d351d",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
"confidence": 0.22473325223116958
},
{
"observation_id": "ea5c0b5a-c212-4b01-a7ba-6937c4766ab1",
"observation_id": "cf1312af-e0e8-4f19-94e4-967311f199a7",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -1750,14 +1750,14 @@
"area_px": 286.0,
"perimeter_px": 90.66044521331787,
"sharpness": {
"laplacian_var": 5858.035190733776
"laplacian_var": 5882.42627038549
},
"contrast": {
"p05": 41.0,
"p95": 163.0,
"dynamic_range": 122.0,
"mean_gray": 74.92825112107623,
"std_gray": 43.15478721153959
"p95": 163.89999999999998,
"dynamic_range": 122.89999999999998,
"mean_gray": 74.9372197309417,
"std_gray": 43.222291265332764
},
"geometry": {
"distance_to_center_norm": 0.14344164729118347,
@@ -1800,6 +1800,31 @@
],
"area_px": 770.0
},
{
"image_points_px": [
[
712.0,
365.0
],
[
708.0,
374.0
],
[
667.0,
395.0
],
[
685.0,
376.0
]
],
"center_px": [
693.0,
377.5
],
"area_px": 300.0
},
{
"image_points_px": [
[
@@ -1925,31 +1950,6 @@
],
"area_px": 48.5
},
{
"image_points_px": [
[
800.0,
531.0
],
[
804.0,
535.0
],
[
808.0,
551.0
],
[
805.0,
547.0
]
],
"center_px": [
804.25,
541.0
],
"area_px": 38.0
},
{
"image_points_px": [
[

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:28Z",
"created_utc": "2026-06-01T19:31:56Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -41,14 +41,14 @@
46,
56,
208,
47,
62,
47,
54,
53,
97,
72,
55,
96,
55,
84,
79,
66,
@@ -72,170 +72,152 @@
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
4
],
"rms": [
0.015701356394471733,
0.015297855069293168,
0.011524674965863707,
0.008661433675275389,
0.00789850187690886,
0.007842132486163736,
0.007839540532042596,
0.007839421032317734,
0.007839415701149656,
0.007839415464271995,
0.007839415453743833
0.006707713100217388,
0.00032323513324893587,
9.283376125887356e-05,
9.281704803054826e-05,
9.28170426690544e-05
],
"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
6.25e-05
]
},
"residual_rms_px": 18.137879039135672,
"residual_median_px": 15.891270492416046,
"residual_max_px": 32.8404433163514,
"sigma2_normalized": 6.913848898029083e-05
"residual_rms_px": 0.23334399908685183,
"residual_median_px": 0.1870912726292264,
"residual_max_px": 0.40319593494158207,
"sigma2_normalized": 9.691878835940337e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3255375623703003,
0.8988600373268127,
0.29338693618774414
0.316351056098938,
0.9486415982246399,
0.001080734422430396
],
[
0.9455116391181946,
-0.3075793981552124,
-0.1067829430103302
0.9182730317115784,
-0.3059374690055847,
-0.2513502538204193
],
[
-0.005743145477026701,
0.3121626079082489,
-0.9500113129615784
-0.23811066150665283,
0.08050733059644699,
-0.9678955674171448
]
],
"translation_m": [
0.12255793809890747,
-0.1998891979455948,
1.2935380935668945
0.12613926827907562,
-0.2001587450504303,
1.4977153539657593
],
"rvec_rad": [
2.334443448932517,
1.6668089931536274,
0.2599515229751258
2.374476599430968,
1.711440115585211,
-0.21729035188815377
]
},
"camera_in_world": {
"position_m": [
0.15652933716773987,
-0.5754384398460388,
1.1715742349624634
0.5005180835723877,
-0.30147409439086914,
1.3991857767105103
],
"position_mm": [
156.5293426513672,
-575.4384155273438,
1171.57421875
500.5180969238281,
-301.4740905761719,
1399.185791015625
],
"orientation_deg": {
"roll": 161.81007385253906,
"pitch": 0.32905977964401245,
"yaw": 71.00152587890625
"roll": 175.2451934814453,
"pitch": 13.775056838989258,
"yaw": 70.99082946777344
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0006521111112735179,
0.00036528966280300094,
-0.00010637666565730888,
1.1187114044635454e-06,
2.7785039095203165e-05,
0.00014853189086861253
1.9002958413404713e-07,
1.1837783288932988e-07,
9.183307334144345e-09,
-1.421152264293451e-09,
-4.80901041975431e-11,
6.295569445241994e-09
],
[
0.00036528966280300365,
0.0003633076638036935,
2.562778432160452e-05,
2.6092071905066404e-05,
1.6263683163092177e-05,
7.600815489637061e-05
1.1837783288933028e-07,
1.0186858695166667e-07,
-1.1387842289719417e-08,
2.713102128429108e-09,
-6.313640712954697e-10,
7.782273519940925e-09
],
[
-0.00010637666565727772,
2.562778432162969e-05,
0.0017152116736520494,
5.891878151451568e-05,
3.901380666156852e-07,
-0.0004990497236999936
9.183307334129218e-09,
-1.1387842289732227e-08,
7.393530626994133e-07,
5.332503565472768e-09,
-1.0402973386703037e-08,
-1.3161071895442165e-07
],
[
1.118711404465086e-06,
2.609207190506745e-05,
5.8918781514514094e-05,
1.0796844344238786e-05,
6.555994303168036e-07,
-3.3813792197815607e-06
-1.4211522642934563e-09,
2.713102128429062e-09,
5.332503565473096e-09,
1.608555076683044e-09,
-1.1432774482875861e-10,
1.4711003560843765e-09
],
[
2.77850390952032e-05,
1.626368316309203e-05,
3.901380666137898e-07,
6.555994303167142e-07,
5.6739233703903745e-06,
8.500206420348859e-06
-4.8090104197252785e-11,
-6.313640712953735e-10,
-1.0402973386703037e-08,
-1.1432774482876895e-10,
9.580907483059548e-10,
2.4371649503792927e-09
],
[
0.00014853189086860418,
7.600815489636319e-05,
-0.0004990497237000007,
-3.3813792197823214e-06,
8.500206420348362e-06,
0.0002672399327877841
6.2955694452450886e-09,
7.782273519943473e-09,
-1.3161071895442122e-07,
1.471100356084429e-09,
2.437164950379249e-09,
4.3127367654869555e-08
]
],
"parameter_std": {
"rvec_std_deg": [
1.4631317428727735,
1.0920937257134558,
2.3729112444167018
0.02497659555434529,
0.01828701299041631,
0.049266143842706674
],
"tvec_std_m": [
0.0032858551922199473,
0.0023819998678401254,
0.016347474813798737
4.010679589150752e-05,
3.095304101871018e-05,
0.00020767129713773533
]
},
"camera_center_std_m": [
0.03722572649769533,
0.030657108809873723,
0.024724327431695548
0.0007939838979023073,
0.0008230828338362719,
0.000365389697077695
],
"camera_center_std_mm": [
37.22572649769533,
30.657108809873723,
24.72432743169555
0.7939838979023073,
0.8230828338362719,
0.36538969707769503
],
"orientation_std_deg": {
"roll": 1.232318313836353,
"pitch": 1.6371795162133258,
"yaw": 0.48210298661799955
"roll": 0.03581906011046001,
"pitch": 0.032469968338037475,
"yaw": 0.006408900050073852
}
}
},
@@ -248,10 +230,10 @@
666.0
],
"projected_center_px": [
1229.82373046875,
636.6405029296875
1234.344482421875,
665.8756103515625
],
"reprojection_error_px": 29.655038280523858,
"reprojection_error_px": 0.3662525407683479,
"confidence": 0.2988751797371847
},
{
@@ -261,10 +243,10 @@
626.75
],
"projected_center_px": [
1196.3397216796875,
603.91357421875
1196.11279296875,
626.8902587890625
],
"reprojection_error_px": 22.838952543454994,
"reprojection_error_px": 0.1799855041627446,
"confidence": 0.5697620483284124
},
{
@@ -274,12 +256,25 @@
547.75
],
"projected_center_px": [
859.1162719726562,
548.44580078125
831.42626953125,
547.9019775390625
],
"reprojection_error_px": 27.874957441783394,
"reprojection_error_px": 0.23274045635984397,
"confidence": 0.5829305549976826
},
{
"marker_id": 62,
"observed_center_px": [
750.75,
651.75
],
"projected_center_px": [
750.702392578125,
651.6242065429688
],
"reprojection_error_px": 0.13450078233771418,
"confidence": 0.5711737708098855
},
{
"marker_id": 47,
"observed_center_px": [
@@ -287,25 +282,12 @@
623.75
],
"projected_center_px": [
595.1937866210938,
624.6065673828125
593.8783569335938,
623.6572875976562
],
"reprojection_error_px": 1.6787577218132352,
"reprojection_error_px": 0.15833853589679212,
"confidence": 0.5768583617164568
},
{
"marker_id": 62,
"observed_center_px": [
751.0,
651.75
],
"projected_center_px": [
765.1891479492188,
644.5945434570312
],
"reprojection_error_px": 15.891270492416046,
"confidence": 0.5593704450665263
},
{
"marker_id": 54,
"observed_center_px": [
@@ -313,10 +295,10 @@
639.0
],
"projected_center_px": [
535.7850341796875,
642.0477905273438
540.5364379882812,
638.8905029296875
],
"reprojection_error_px": 5.614261285804342,
"reprojection_error_px": 0.11540075994985943,
"confidence": 0.5766374039623903
},
{
@@ -326,10 +308,10 @@
594.75
],
"projected_center_px": [
1235.982666015625,
574.2188720703125
1240.234130859375,
594.8194580078125
],
"reprojection_error_px": 21.022214925920235,
"reprojection_error_px": 0.2747923120939837,
"confidence": 0.21364841201201337
},
{
@@ -339,10 +321,10 @@
605.25
],
"projected_center_px": [
478.2646179199219,
610.6361694335938
491.54290771484375,
605.1853637695312
],
"reprojection_error_px": 14.289372273582657,
"reprojection_error_px": 0.07758166202345713,
"confidence": 0.5705029634947052
},
{
@@ -352,25 +334,12 @@
548.5
],
"projected_center_px": [
1198.48974609375,
534.4537353515625
1197.524658203125,
548.5881958007812
],
"reprojection_error_px": 14.065730512744919,
"reprojection_error_px": 0.24198641427629713,
"confidence": 0.5440516905787338
},
{
"marker_id": 55,
"observed_center_px": [
598.75,
542.75
],
"projected_center_px": [
598.1221313476562,
544.5460815429688
],
"reprojection_error_px": 1.902663384203565,
"confidence": 0.5461315019106076
},
{
"marker_id": 96,
"observed_center_px": [
@@ -378,12 +347,25 @@
614.5
],
"projected_center_px": [
735.0128173828125,
610.1817626953125
722.7849731445312,
614.3385009765625
],
"reprojection_error_px": 12.765381110346723,
"reprojection_error_px": 0.26892096077480626,
"confidence": 0.5763709732716893
},
{
"marker_id": 55,
"observed_center_px": [
598.5,
542.75
],
"projected_center_px": [
598.8457641601562,
542.7619018554688
],
"reprojection_error_px": 0.3459689416871924,
"confidence": 0.5459402660246769
},
{
"marker_id": 84,
"observed_center_px": [
@@ -391,10 +373,10 @@
485.0
],
"projected_center_px": [
1249.8275146484375,
476.7846374511719
1254.1151123046875,
485.0285339355469
],
"reprojection_error_px": 9.330088879183982,
"reprojection_error_px": 0.1378726797611153,
"confidence": 0.06519221426443914
},
{
@@ -404,10 +386,10 @@
535.75
],
"projected_center_px": [
742.62255859375,
534.1879272460938
731.5110473632812,
535.8734741210938
],
"reprojection_error_px": 11.231713180094042,
"reprojection_error_px": 0.12396734576226898,
"confidence": 0.5460974493377216
},
{
@@ -417,10 +399,10 @@
495.75
],
"projected_center_px": [
428.0283203125,
500.76373291015625
452.8526611328125,
495.8741455078125
],
"reprojection_error_px": 25.470027563971815,
"reprojection_error_px": 0.1926677162736904,
"confidence": 0.5349107016469481
},
{
@@ -430,10 +412,10 @@
435.0
],
"projected_center_px": [
537.2727661132812,
436.9281311035156
548.499267578125,
434.8621826171875
],
"reprojection_error_px": 11.63806630170105,
"reprojection_error_px": 0.2861125274862849,
"confidence": 0.5227826547122322
},
{
@@ -443,10 +425,10 @@
313.5
],
"projected_center_px": [
612.1203002929688,
313.2383117675781
617.8135986328125,
313.51605224609375
],
"reprojection_error_px": 5.88552031479388,
"reprojection_error_px": 0.1870912726292264,
"confidence": 0.5046333482067283
},
{
@@ -456,10 +438,10 @@
161.0
],
"projected_center_px": [
1067.6309814453125,
173.99093627929688
1054.4796142578125,
160.73471069335938
],
"reprojection_error_px": 18.29437368174261,
"reprojection_error_px": 0.3787966021444078,
"confidence": 0.4723088830007061
},
{
@@ -469,10 +451,10 @@
251.25
],
"projected_center_px": [
1247.70263671875,
265.3039855957031
1247.864013671875,
251.3048553466797
],
"reprojection_error_px": 14.055446373702141,
"reprojection_error_px": 0.3681237052558132,
"confidence": 0.13607001327160623
},
{
@@ -482,10 +464,10 @@
150.5
],
"projected_center_px": [
793.588623046875,
156.1845245361328
775.3182983398438,
150.45384216308594
],
"reprojection_error_px": 19.438382802607535,
"reprojection_error_px": 0.32162770256287404,
"confidence": 0.46988879526830113
},
{
@@ -495,10 +477,10 @@
264.25
],
"projected_center_px": [
547.3587036132812,
261.0544128417969
562.743896484375,
264.1649475097656
],
"reprojection_error_px": 15.71953503604653,
"reprojection_error_px": 0.08527120849415161,
"confidence": 0.4655541127751829
},
{
@@ -508,10 +490,10 @@
240.75
],
"projected_center_px": [
444.06695556640625,
234.21192932128906
476.1136474609375,
241.1294403076172
],
"reprojection_error_px": 32.8404433163514,
"reprojection_error_px": 0.40319593494158207,
"confidence": 0.4655541127751829
},
{
@@ -521,10 +503,10 @@
261.5
],
"projected_center_px": [
1210.841552734375,
273.69903564453125
1207.3824462890625,
261.3768005371094
],
"reprojection_error_px": 12.6484167125041,
"reprojection_error_px": 0.17028500407174965,
"confidence": 0.49001748422717006
},
{
@@ -534,10 +516,10 @@
153.5
],
"projected_center_px": [
1170.449462890625,
171.389404296875
1162.3616943359375,
153.4863739013672
],
"reprojection_error_px": 19.678972986205,
"reprojection_error_px": 0.11252242107451403,
"confidence": 0.46225891142368675
},
{
@@ -547,10 +529,10 @@
177.75
],
"projected_center_px": [
553.1890258789062,
170.61465454101562
570.5094604492188,
177.71688842773438
],
"reprojection_error_px": 18.723861242815982,
"reprojection_error_px": 0.03443655495722901,
"confidence": 0.43211414091114625
},
{
@@ -560,10 +542,10 @@
214.0
],
"projected_center_px": [
1041.18798828125,
224.353515625
1027.4276123046875,
214.04083251953125
],
"reprojection_error_px": 17.1626428321735,
"reprojection_error_px": 0.08311000591941531,
"confidence": 0.4468602604238168
},
{
@@ -573,10 +555,10 @@
64.0
],
"projected_center_px": [
1181.1949462890625,
86.80318450927734
1172.8695068359375,
64.04541778564453
],
"reprojection_error_px": 24.23102078833588,
"reprojection_error_px": 0.13817105746101507,
"confidence": 0.4377857805109236
},
{
@@ -586,10 +568,10 @@
42.0
],
"projected_center_px": [
1002.008056640625,
54.512149810791016
987.9444580078125,
42.11640167236328
],
"reprojection_error_px": 18.969609169799686,
"reprojection_error_px": 0.22663465342126077,
"confidence": 0.22473325223116958
}
]

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:26Z",
"created_utc": "2026-06-01T19:31:53Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_g.png",
"image_sha256": "3668ddce2e536e84df6a2d773efb16e31efa2bd81adf9ae0393362aef8915e39",
"image_sha256": "4ac3c814212f1d509842442f4b420914c301470cd821b35ffb11d16cc413116c",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 35,
"num_rejected_candidates": 2
"num_rejected_candidates": 3
},
"detections": [
{
"observation_id": "d34538a1-e688-470d-ba56-5b68f95d195f",
"observation_id": "1cc6b15e-cb16-4307-a06e-3540744df370",
"type": "aruco",
"marker_id": 41,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1187.0,
"perimeter_px": 138.31270217895508,
"sharpness": {
"laplacian_var": 997.9794875889099
"laplacian_var": 997.2493671069822
},
"contrast": {
"p05": 7.0,
"p95": 135.0,
"dynamic_range": 128.0,
"mean_gray": 39.0,
"std_gray": 47.89994592144242
"mean_gray": 38.996385542168674,
"std_gray": 47.89402192688859
},
"geometry": {
"distance_to_center_norm": 0.21124745905399323,
@@ -100,7 +100,7 @@
"confidence": 0.7407693857081211
},
{
"observation_id": "a06715c2-aacf-4fa6-b407-98789f3ff35b",
"observation_id": "43556ab1-6da3-47a6-bd6b-b25159fb468c",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -154,7 +154,7 @@
"confidence": 0.47851333141876906
},
{
"observation_id": "6a3d553e-9da5-48de-a753-fb97d111b4a1",
"observation_id": "5cfc61c0-4574-4615-8ce6-c716ab5d70f0",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.5891588970505985
},
{
"observation_id": "633990d1-d2d8-4e77-a5ae-d529f3fb734d",
"observation_id": "e5884590-0b49-462a-80b5-ad41ec445339",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 861.0,
"perimeter_px": 120.1253662109375,
"sharpness": {
"laplacian_var": 3660.4109650926243
"laplacian_var": 3661.879195702043
},
"contrast": {
"p05": 28.0,
"p95": 189.0,
"dynamic_range": 161.0,
"mean_gray": 89.5625,
"std_gray": 68.99687284341988
"mean_gray": 89.56085526315789,
"std_gray": 68.99751793251315
},
"geometry": {
"distance_to_center_norm": 0.2886967360973358,
@@ -262,7 +262,7 @@
"confidence": 0.38340186913811386
},
{
"observation_id": "0158054c-8039-4fe8-bf93-1c4d5b51cb9a",
"observation_id": "96de7c99-ade9-4d03-8337-f35eea49cd91",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -316,7 +316,7 @@
"confidence": 0.3490767193505014
},
{
"observation_id": "b2868068-7a33-4055-962f-8ad70c2439d6",
"observation_id": "7ff8cef3-7276-4aca-b2ea-e1b6222b2ad8",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 819.0,
"perimeter_px": 114.65561866760254,
"sharpness": {
"laplacian_var": 3735.5481060270263
"laplacian_var": 3733.79152999582
},
"contrast": {
"p05": 31.0,
"p95": 183.0,
"dynamic_range": 152.0,
"mean_gray": 79.03914590747331,
"std_gray": 64.26185226252063
"mean_gray": 79.03024911032028,
"std_gray": 64.25807737925925
},
"geometry": {
"distance_to_center_norm": 0.1658599078655243,
@@ -370,7 +370,7 @@
"confidence": 0.519411428244808
},
{
"observation_id": "dc3aa998-b11c-4272-af8f-328c20594a7c",
"observation_id": "e55f5417-cf45-4fc7-ae7f-ad0c481c5779",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 820.0,
"perimeter_px": 114.56854248046875,
"sharpness": {
"laplacian_var": 3883.6341183402074
"laplacian_var": 3882.967608787139
},
"contrast": {
"p05": 41.0,
"p95": 184.0,
"dynamic_range": 143.0,
"mean_gray": 94.43853211009174,
"std_gray": 61.89037646324936
"mean_gray": 94.43302752293577,
"std_gray": 61.886575822070604
},
"geometry": {
"distance_to_center_norm": 0.4609958529472351,
@@ -424,7 +424,7 @@
"confidence": 0.5331747682067169
},
{
"observation_id": "2ce54a24-7f6b-4a72-83e3-9ba74b4f24fa",
"observation_id": "32223196-f3ce-41c1-8448-e112a9ff7c9f",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 779.0,
"perimeter_px": 112.11092758178711,
"sharpness": {
"laplacian_var": 3025.2762168579343
"laplacian_var": 3025.08072813613
},
"contrast": {
"p05": 9.0,
"p95": 158.0,
"dynamic_range": 149.0,
"mean_gray": 55.33646616541353,
"std_gray": 60.846206542971174
"mean_gray": 55.33458646616541,
"std_gray": 60.847622506377476
},
"geometry": {
"distance_to_center_norm": 0.7917603254318237,
@@ -478,7 +478,7 @@
"confidence": 0.43254677700170213
},
{
"observation_id": "b8dce317-8fb8-4d1c-853b-dde40976b4eb",
"observation_id": "6373c912-b56f-480f-aed1-56044801bde2",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.27711751756945874
},
{
"observation_id": "2a5d127b-9e70-42ae-a37f-2a5b410b46fb",
"observation_id": "9ddf9f12-33ea-490f-b11a-ad7d0e108381",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 760.0,
"perimeter_px": 110.37932586669922,
"sharpness": {
"laplacian_var": 4254.985977216092
"laplacian_var": 4254.141673193307
},
"contrast": {
"p05": 38.0,
"p95": 184.0,
"dynamic_range": 146.0,
"mean_gray": 91.14528301886793,
"std_gray": 62.59645859546278
"mean_gray": 91.1377358490566,
"std_gray": 62.59463695881378
},
"geometry": {
"distance_to_center_norm": 0.33771631121635437,
@@ -586,7 +586,7 @@
"confidence": 0.48073279309443956
},
{
"observation_id": "8bb73504-d7e8-42af-9bbc-417e3942a415",
"observation_id": "379cf7e4-e755-4238-82bc-c518b0d58454",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 741.5,
"perimeter_px": 109.12653732299805,
"sharpness": {
"laplacian_var": 3955.264943819371
"laplacian_var": 3952.3362706093803
},
"contrast": {
"p05": 44.0,
"p95": 185.0,
"dynamic_range": 141.0,
"mean_gray": 96.92007797270955,
"std_gray": 60.67765023631475
"mean_gray": 96.91812865497076,
"std_gray": 60.666675686065595
},
"geometry": {
"distance_to_center_norm": 0.4027971923351288,
@@ -640,7 +640,7 @@
"confidence": 0.45515519100712953
},
{
"observation_id": "0ee6ae9c-7b3a-41b6-a509-f3f773bf5988",
"observation_id": "fdd803ed-196b-4dac-af10-149bd5874abb",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
@@ -659,42 +659,42 @@
],
[
525.0,
495.0
496.0
]
],
"center_px": [
504.75,
495.25
495.5
],
"quality": {
"area_px": 740.0,
"perimeter_px": 109.0725269317627,
"area_px": 741.5,
"perimeter_px": 109.12653732299805,
"sharpness": {
"laplacian_var": 615.8272820886959
"laplacian_var": 576.9035562699254
},
"contrast": {
"p05": 2.0,
"p95": 70.0,
"dynamic_range": 68.0,
"mean_gray": 28.321637426900583,
"std_gray": 28.596470897755243
"p95": 67.0,
"dynamic_range": 65.0,
"mean_gray": 26.94541910331384,
"std_gray": 27.524027133736453
},
"geometry": {
"distance_to_center_norm": 0.2604817748069763,
"distance_to_center_norm": 0.26072263717651367,
"distance_to_border_px": 206.0
},
"edge_ratio": 1.1106649720556803,
"edge_ratio": 1.0860764484296306,
"edge_lengths_px": [
26.172504425048828,
27.658634185791016,
26.172504425048828,
29.068883895874023
26.870058059692383,
28.42534065246582
]
},
"confidence": 0.3775515964613595
"confidence": 0.3698135926932927
},
{
"observation_id": "ff8672af-624a-47d4-96d9-f092e8c07b0f",
"observation_id": "44f20d88-8664-4e3d-a355-a04eebdf89ec",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 741.0,
"perimeter_px": 109.0573844909668,
"sharpness": {
"laplacian_var": 3761.083075894197
"laplacian_var": 3755.303238603331
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 122.30214424951266,
"std_gray": 65.33870618260373
"mean_gray": 122.2943469785575,
"std_gray": 65.33730972512889
},
"geometry": {
"distance_to_center_norm": 0.2665036618709564,
@@ -748,7 +748,7 @@
"confidence": 0.47991555158957017
},
{
"observation_id": "02341e81-2489-4562-a583-dd2862f99122",
"observation_id": "1b336851-6de0-4f60-9f5c-a67a0fd17f9b",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
@@ -802,7 +802,7 @@
"confidence": 0.39662908657084783
},
{
"observation_id": "8aeba79d-60ed-4a1a-acde-c580c0b8c6cf",
"observation_id": "b4ba0180-1748-4b80-850a-e0d95367ecc7",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 702.0,
"perimeter_px": 106.57870483398438,
"sharpness": {
"laplacian_var": 3897.8699844578937
"laplacian_var": 3897.837920329637
},
"contrast": {
"p05": 9.0,
"p95": 155.0,
"dynamic_range": 146.0,
"mean_gray": 81.83567134268537,
"std_gray": 63.093252945419366
"mean_gray": 81.83366733466934,
"std_gray": 63.09104015208895
},
"geometry": {
"distance_to_center_norm": 0.8364452719688416,
@@ -856,7 +856,7 @@
"confidence": 0.1698001278724927
},
{
"observation_id": "cf7809e9-5ba6-4e0c-a38b-a5d76bcf569d",
"observation_id": "b37e12f6-30e9-48e0-bd94-c0831bc7ffd1",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
@@ -886,14 +886,14 @@
"area_px": 702.0,
"perimeter_px": 106.47352981567383,
"sharpness": {
"laplacian_var": 3656.4561453226397
"laplacian_var": 3657.3454813387366
},
"contrast": {
"p05": 8.0,
"p95": 153.0,
"dynamic_range": 145.0,
"mean_gray": 59.59758551307847,
"std_gray": 60.39560254726759
"mean_gray": 59.59557344064386,
"std_gray": 60.39250740136963
},
"geometry": {
"distance_to_center_norm": 0.8423811793327332,
@@ -910,7 +910,7 @@
"confidence": 0.07718187630567852
},
{
"observation_id": "764eb60f-1d17-499c-9427-9cb5c2db92b1",
"observation_id": "936bcfd3-f1ce-4e54-a113-404acddc3030",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 703.5,
"perimeter_px": 106.30549621582031,
"sharpness": {
"laplacian_var": 2509.0734750555653
"laplacian_var": 2507.015185681493
},
"contrast": {
"p05": 13.0,
"p95": 145.0,
"dynamic_range": 132.0,
"mean_gray": 58.31790744466801,
"std_gray": 54.9322203652192
"mean_gray": 58.30181086519115,
"std_gray": 54.920039339633064
},
"geometry": {
"distance_to_center_norm": 0.3038310110569,
@@ -964,7 +964,7 @@
"confidence": 0.4316478958478293
},
{
"observation_id": "7aaeb7b4-8d20-4014-9ed6-5a55205a2629",
"observation_id": "96610f7a-54e2-43e9-a659-36e91934e738",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 665.0,
"perimeter_px": 103.3526554107666,
"sharpness": {
"laplacian_var": 3751.5066659361532
"laplacian_var": 3741.197238658777
},
"contrast": {
"p05": 30.0,
"p95": 181.0,
"dynamic_range": 151.0,
"mean_gray": 93.3931623931624,
"std_gray": 66.77154663797012
"mean_gray": 93.2948717948718,
"std_gray": 66.70318403214571
},
"geometry": {
"distance_to_center_norm": 0.1222480833530426,
@@ -1018,7 +1018,7 @@
"confidence": 0.4181682027393045
},
{
"observation_id": "fa3d307f-7f23-4859-b767-283b1b95dd42",
"observation_id": "dd53df58-6a13-451e-b4eb-d778bc03c66d",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 629.0,
"perimeter_px": 100.5296630859375,
"sharpness": {
"laplacian_var": 4251.100896389193
"laplacian_var": 4253.6781415705755
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 90.29128440366972,
"std_gray": 67.50351684485558
"mean_gray": 90.17201834862385,
"std_gray": 67.43702632663661
},
"geometry": {
"distance_to_center_norm": 0.026040121912956238,
@@ -1072,7 +1072,7 @@
"confidence": 0.39668368657567366
},
{
"observation_id": "f9ac1566-65e7-43f3-bfa7-485b539d6b17",
"observation_id": "fdb025e3-3d45-4837-8bfd-9c36ca9d19aa",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 612.0,
"perimeter_px": 99.30825424194336,
"sharpness": {
"laplacian_var": 4001.937599088247
"laplacian_var": 4004.8164589457288
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 80.79809976247031,
"std_gray": 63.76034848669227
"mean_gray": 80.7624703087886,
"std_gray": 63.75651886992136
},
"geometry": {
"distance_to_center_norm": 0.16964846849441528,
@@ -1126,7 +1126,7 @@
"confidence": 0.3829765144945479
},
{
"observation_id": "7de918ad-3e0f-4ea9-9564-b319fe8ce9fb",
"observation_id": "a69f0af5-cee7-4721-8c77-18bb9f5f4c03",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.3382587531306593
},
{
"observation_id": "6cd56bf7-5973-40ff-99fb-efd29788b837",
"observation_id": "e2febdbf-19a2-4343-9b7c-0270cdc101ef",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 577.0,
"perimeter_px": 96.43865394592285,
"sharpness": {
"laplacian_var": 3670.348205556527
"laplacian_var": 3683.3671308975777
},
"contrast": {
"p05": 21.0,
"p95": 177.0,
"dynamic_range": 156.0,
"mean_gray": 84.39440203562341,
"std_gray": 66.48851261405774
"mean_gray": 84.31806615776081,
"std_gray": 66.479812729775
},
"geometry": {
"distance_to_center_norm": 0.11161299794912338,
@@ -1234,7 +1234,7 @@
"confidence": 0.36403279165733554
},
{
"observation_id": "9d8d38b9-4391-4555-afbc-cd742450ce4d",
"observation_id": "49b524d7-5ede-40d6-ab3a-bbca30af4289",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -1264,14 +1264,14 @@
"area_px": 576.5,
"perimeter_px": 96.39469909667969,
"sharpness": {
"laplacian_var": 3831.886089129529
"laplacian_var": 3831.7385204081634
},
"contrast": {
"p05": 25.0,
"p95": 179.0,
"dynamic_range": 154.0,
"mean_gray": 108.68367346938776,
"std_gray": 67.37722726450356
"mean_gray": 108.61479591836735,
"std_gray": 67.35696928821133
},
"geometry": {
"distance_to_center_norm": 0.13722912967205048,
@@ -1288,7 +1288,7 @@
"confidence": 0.3623898971459892
},
{
"observation_id": "8ce583bf-7992-4460-a271-7999f0b05f66",
"observation_id": "bd3a5ef8-de49-4f6d-a1f5-fdd5725462a1",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 558.5,
"perimeter_px": 95.06661224365234,
"sharpness": {
"laplacian_var": 3776.790998292321
"laplacian_var": 3766.798157946306
},
"contrast": {
"p05": 22.0,
"p95": 178.0,
"dynamic_range": 156.0,
"mean_gray": 60.060846560846564,
"std_gray": 59.04611238382357
"mean_gray": 60.05291005291005,
"std_gray": 59.04143782480641
},
"geometry": {
"distance_to_center_norm": 0.13344134390354156,
@@ -1342,7 +1342,7 @@
"confidence": 0.3590718541167963
},
{
"observation_id": "31392ce5-c1c3-43cd-a4d6-702882dd4cb0",
"observation_id": "5f2afb3f-d52e-4c66-9e9e-789401ddeaaa",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
"confidence": 0.29591817114314195
},
{
"observation_id": "540621e7-11c2-447f-9af6-85da0fa814d1",
"observation_id": "133d9eb0-77c8-4de9-999a-ed091ac48a8d",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
"confidence": 0.3158166687011719
},
{
"observation_id": "53f7ed02-9fcd-4636-bf28-22720365bcc7",
"observation_id": "55718b1f-4c32-4849-9a7b-d896dfdab98c",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -1480,14 +1480,14 @@
"area_px": 526.5,
"perimeter_px": 92.3674144744873,
"sharpness": {
"laplacian_var": 2563.884376055545
"laplacian_var": 2562.284376055545
},
"contrast": {
"p05": 14.0,
"p95": 168.0,
"dynamic_range": 154.0,
"mean_gray": 43.74246575342466,
"std_gray": 52.57354383840108
"mean_gray": 43.75068493150685,
"std_gray": 52.57178555572532
},
"geometry": {
"distance_to_center_norm": 0.36139723658561707,
@@ -1504,7 +1504,7 @@
"confidence": 0.31800273344664126
},
{
"observation_id": "08e7e727-f310-4a30-b191-9a0607d3d4db",
"observation_id": "c12cc3a1-89a4-4e4a-9908-330ce4ab68ae",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 525.0,
"perimeter_px": 92.31552124023438,
"sharpness": {
"laplacian_var": 4225.618574930371
"laplacian_var": 4226.006754244169
},
"contrast": {
"p05": 16.0,
"p95": 173.0,
"dynamic_range": 157.0,
"mean_gray": 125.26997245179064,
"std_gray": 58.98086589625927
"mean_gray": 125.27272727272727,
"std_gray": 58.974243806147165
},
"geometry": {
"distance_to_center_norm": 0.33065441250801086,
@@ -1558,7 +1558,7 @@
"confidence": 0.2969848480224609
},
{
"observation_id": "f21f961e-6810-4cc5-b430-52f55642571a",
"observation_id": "be223c39-56b1-48e9-a77c-c70397db9e73",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 525.0,
"perimeter_px": 92.27830123901367,
"sharpness": {
"laplacian_var": 4092.709581534997
"laplacian_var": 4093.5753349596544
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 102.71506849315068,
"std_gray": 63.58418790094519
"std_gray": 63.589358270620096
},
"geometry": {
"distance_to_center_norm": 0.5383343696594238,
@@ -1612,7 +1612,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "ac237e04-6dd7-4482-bb6e-3ccf7fb43922",
"observation_id": "8e73d645-9daa-408e-884f-f8f35406bfc1",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
@@ -1642,14 +1642,14 @@
"area_px": 525.0,
"perimeter_px": 92.24146842956543,
"sharpness": {
"laplacian_var": 3282.957673109402
"laplacian_var": 3281.965892287484
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.79178082191781,
"std_gray": 66.84179185153974
"mean_gray": 99.8082191780822,
"std_gray": 66.83384786256396
},
"geometry": {
"distance_to_center_norm": 0.49239593744277954,
@@ -1666,7 +1666,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "e40794bd-8340-4fb3-862e-9dff823eb60b",
"observation_id": "a7f359a3-9484-412f-8009-8a3a57fc0d14",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
@@ -1696,14 +1696,14 @@
"area_px": 507.5,
"perimeter_px": 91.00028991699219,
"sharpness": {
"laplacian_var": 3256.497654344155
"laplacian_var": 3251.357928316757
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 62.153424657534245,
"std_gray": 62.042791424336926
"mean_gray": 62.16438356164384,
"std_gray": 62.04488293640828
},
"geometry": {
"distance_to_center_norm": 0.5662168264389038,
@@ -1720,7 +1720,7 @@
"confidence": 0.17828567290874034
},
{
"observation_id": "8aad007b-d6f5-4e2e-a4e1-596898987ff1",
"observation_id": "2e118d8f-e8ca-4539-96f2-025d324dfe3c",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
@@ -1750,14 +1750,14 @@
"area_px": 494.0,
"perimeter_px": 89.47044372558594,
"sharpness": {
"laplacian_var": 4662.113604080579
"laplacian_var": 4660.857922262397
},
"contrast": {
"p05": 13.0,
"p95": 171.0,
"dynamic_range": 158.0,
"mean_gray": 84.40056818181819,
"std_gray": 65.0561933649035
"mean_gray": 84.40625,
"std_gray": 65.05353796563713
},
"geometry": {
"distance_to_center_norm": 0.4621008336544037,
@@ -1774,7 +1774,7 @@
"confidence": 0.3167426670523156
},
{
"observation_id": "28663746-d22f-454d-9000-e0f73d5c4cc3",
"observation_id": "17b8367a-4326-4b1a-9a15-80ba7cb2e704",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
@@ -1804,14 +1804,14 @@
"area_px": 476.0,
"perimeter_px": 88.23826217651367,
"sharpness": {
"laplacian_var": 3148.8834512096914
"laplacian_var": 3146.1083032806973
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 54.17751479289941,
"std_gray": 59.89990045314865
"mean_gray": 54.17455621301775,
"std_gray": 59.89785934235994
},
"geometry": {
"distance_to_center_norm": 0.6927092671394348,
@@ -1828,7 +1828,7 @@
"confidence": 0.15449597168691093
},
{
"observation_id": "fc521ee6-446a-4161-b748-24e45449b633",
"observation_id": "70bbc149-98f0-4437-a4da-761e294dba9c",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
@@ -1858,14 +1858,14 @@
"area_px": 461.5,
"perimeter_px": 87.19272422790527,
"sharpness": {
"laplacian_var": 4527.538827922574
"laplacian_var": 4526.403025453437
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 102.71604938271605,
"std_gray": 63.573323966858084
"mean_gray": 102.72222222222223,
"std_gray": 63.5710693963656
},
"geometry": {
"distance_to_center_norm": 0.646465003490448,
@@ -1882,7 +1882,7 @@
"confidence": 0.08171792300897739
},
{
"observation_id": "766e02aa-cba1-44ca-9a61-c670c3a5c305",
"observation_id": "864cd89b-e11e-4683-aa1e-0869c7d92800",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
@@ -1912,14 +1912,14 @@
"area_px": 334.5,
"perimeter_px": 85.13731288909912,
"sharpness": {
"laplacian_var": 4196.178701877419
"laplacian_var": 4200.137774855723
},
"contrast": {
"p05": 27.0,
"p95": 142.0,
"dynamic_range": 115.0,
"mean_gray": 60.31623931623932,
"std_gray": 41.890302321567226
"mean_gray": 60.32905982905983,
"std_gray": 41.898517118424564
},
"geometry": {
"distance_to_center_norm": 0.15455873310565948,
@@ -1937,6 +1937,31 @@
}
],
"rejected_candidates": [
{
"image_points_px": [
[
472.0,
442.0
],
[
478.0,
439.0
],
[
522.0,
482.0
],
[
472.0,
449.0
]
],
"center_px": [
486.0,
453.0
],
"area_px": 370.0
},
{
"image_points_px": [
[

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:29Z",
"created_utc": "2026-06-01T19:31:57Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -74,170 +74,152 @@
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
4
],
"rms": [
0.02200940579566412,
0.012492719601123106,
0.006103430044278538,
0.0055115399329895825,
0.005096973387838219,
0.005079213955287144,
0.005078265280046825,
0.0050782114556132685,
0.005078208229684019,
0.005078208035428635,
0.005078208023787546
0.008381194843130185,
0.0005570759682538026,
8.990930760016274e-05,
8.981924443948236e-05,
8.981924274038689e-05
],
"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
6.25e-05
]
},
"residual_rms_px": 11.755561902657986,
"residual_median_px": 7.179568755770828,
"residual_max_px": 23.328064176759177,
"sigma2_normalized": 2.8763757886605642e-05
"residual_rms_px": 0.22582036189448948,
"residual_median_px": 0.170213142776088,
"residual_max_px": 0.4165508784900157,
"sigma2_normalized": 8.998361331810913e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.6559104919433594,
-0.7190011739730835,
-0.22982333600521088
-0.7072217464447021,
-0.7069913148880005,
0.0008337813778780401
],
[
-0.6814113259315491,
0.6949824094772339,
-0.22951699793338776
-0.6416308283805847,
0.6413437724113464,
-0.42069941759109497
],
[
0.32474616169929504,
0.006061616353690624,
-0.9457817673683167
0.2968961000442505,
-0.2980627417564392,
-0.9071996808052063
]
],
"translation_m": [
-0.021144816651940346,
0.3619556128978729,
1.2937729358673096
-0.00035335071152076125,
0.33177444338798523,
1.3887873888015747
],
"rvec_rad": [
1.106264639889024,
-2.6042289186417977,
0.1765199787946084
1.1164180821644647,
-2.6951916291967954,
0.5950065918240713
]
},
"camera_in_world": {
"position_m": [
-0.1873762607574463,
-0.27459830045700073,
1.301842212677002
-0.19969874620437622,
0.20091447234153748,
1.3994851112365723
],
"position_mm": [
-187.3762664794922,
-274.5982971191406,
1301.8421630859375
-199.69874572753906,
200.9144744873047,
1399.485107421875
],
"orientation_deg": {
"roll": 179.63278198242188,
"pitch": -18.950197219848633,
"yaw": -133.90757751464844
"roll": -161.81192016601562,
"pitch": -17.271270751953125,
"yaw": -137.783935546875
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00015713177460004805,
-0.00024204502628152495,
1.7758625437526932e-05,
1.720048535412467e-05,
2.8695667094934284e-05,
0.00018562673513110555
4.057066033811744e-08,
-5.79654876675776e-08,
1.8086837584943956e-08,
3.653313126501175e-09,
9.936723308525603e-09,
3.618736440844957e-08
],
[
-0.00024204502628152386,
0.0005917462265111596,
-3.912138084668765e-05,
-7.209370121885013e-05,
-5.030004382328941e-05,
-0.00041584570195426346
-5.796548766757797e-08,
1.8522256761516856e-07,
-9.004321898280576e-08,
-2.830536997940188e-08,
-1.6591957618416472e-08,
-9.726473637899965e-08
],
[
1.775862543752117e-05,
-3.912138084668026e-05,
0.0005937501659202497,
1.2121327837238821e-05,
-5.034321601349462e-05,
-6.556933985800179e-05
1.8086837584944608e-08,
-9.004321898280542e-08,
3.4814971623299873e-07,
3.5681470300082046e-08,
-2.108732983573427e-08,
9.112336993194966e-10
],
[
1.720048535412448e-05,
-7.209370121884996e-05,
1.2121327837239306e-05,
1.4244784832818947e-05,
3.7543773536765624e-06,
4.016671598390895e-05
3.6533131265012747e-09,
-2.8305369979401886e-08,
3.568147030008221e-08,
7.921495035531506e-09,
-3.20975747172567e-10,
7.945186660853111e-09
],
[
2.8695667094934772e-05,
-5.030004382329021e-05,
-5.034321601349331e-05,
3.7543773536766378e-06,
1.2415433456772226e-05,
4.562655960014969e-05
9.936723308525576e-09,
-1.6591957618416452e-08,
-2.108732983573437e-08,
-3.2097574717256696e-10,
5.6962904131179224e-09,
1.3804263992014422e-08
],
[
0.0001856267351311054,
-0.00041584570195426487,
-6.556933985799604e-05,
4.0166715983909274e-05,
4.5626559600149246e-05,
0.0003640957163529654
3.6187364408449745e-08,
-9.726473637899984e-08,
9.112336993198462e-10,
7.945186660853167e-09,
1.3804263992014444e-08,
8.092186757085763e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.7182152793178741,
1.393767652798099,
1.3961256444186971
0.011540607496234395,
0.02465866624804665,
0.033806923835280764
],
"tvec_std_m": [
0.003774226388654892,
0.00352355409448645,
0.019081292313492957
8.900278105504067e-05,
7.547377301498794e-05,
0.0002844676916116444
]
},
"camera_center_std_m": [
0.03068643829839299,
0.02772854307784112,
0.02576136304504991
0.0006046566433382854,
0.0007404101578997764,
0.0003116136329664904
],
"camera_center_std_mm": [
30.68643829839299,
27.72854307784112,
25.76136304504991
0.6046566433382854,
0.7404101578997764,
0.3116136329664904
],
"orientation_std_deg": {
"roll": 0.8527509678295315,
"pitch": 1.3876188137550685,
"yaw": 0.4456641826828775
"roll": 0.021242044681257937,
"pitch": 0.02461031935223214,
"yaw": 0.0068675669240877615
}
}
},
@@ -250,10 +232,10 @@
662.0
],
"projected_center_px": [
67.64344787597656,
638.7950439453125
65.18418884277344,
661.9302368164062
],
"reprojection_error_px": 23.328064176759177,
"reprojection_error_px": 0.09590625735912438,
"confidence": 0.3490767193505014
},
{
@@ -263,10 +245,10 @@
647.0
],
"projected_center_px": [
822.2017211914062,
648.09375
819.48974609375,
646.9373168945312
],
"reprojection_error_px": 2.9147189330351573,
"reprojection_error_px": 0.06351625228703457,
"confidence": 0.5331747682067169
},
{
@@ -276,10 +258,10 @@
581.0
],
"projected_center_px": [
101.0286865234375,
567.763916015625
102.28055572509766,
581.1607055664062
],
"reprojection_error_px": 13.29231077914828,
"reprojection_error_px": 0.16358463072733076,
"confidence": 0.43254677700170213
},
{
@@ -289,10 +271,10 @@
559.0
],
"projected_center_px": [
55.246952056884766,
547.0332641601562
52.05217361450195,
559.091552734375
],
"reprojection_error_px": 12.399413870030676,
"reprojection_error_px": 0.10537546783638838,
"confidence": 0.27711751756945874
},
{
@@ -302,10 +284,10 @@
564.0
],
"projected_center_px": [
785.330322265625,
565.1350708007812
780.9439086914062,
563.8392944335938
],
"reprojection_error_px": 4.476614417945086,
"reprojection_error_px": 0.170213142776088,
"confidence": 0.48073279309443956
},
{
@@ -315,24 +297,24 @@
547.5
],
"projected_center_px": [
885.4929809570312,
550.4025268554688
868.8621215820312,
547.334228515625
],
"reprojection_error_px": 16.99270647878755,
"reprojection_error_px": 0.20012854416369794,
"confidence": 0.45515519100712953
},
{
"marker_id": 215,
"observed_center_px": [
504.75,
495.25
495.5
],
"projected_center_px": [
484.1275939941406,
500.800537109375
504.504150390625,
495.4842529296875
],
"reprojection_error_px": 21.35631268906348,
"confidence": 0.3775515964613595
"reprojection_error_px": 0.24635340601109396,
"confidence": 0.3698135926932927
},
{
"marker_id": 103,
@@ -341,10 +323,10 @@
543.5
],
"projected_center_px": [
706.70263671875,
543.7702026367188
708.194091796875,
543.6495971679688
],
"reprojection_error_px": 1.3252022292561734,
"reprojection_error_px": 0.2450529295446938,
"confidence": 0.47991555158957017
},
{
@@ -354,10 +336,10 @@
514.75
],
"projected_center_px": [
84.52336120605469,
507.3511657714844
84.43355560302734,
514.6434936523438
],
"reprojection_error_px": 7.403882379537784,
"reprojection_error_px": 0.21221748630545456,
"confidence": 0.39662908657084783
},
{
@@ -367,10 +349,10 @@
498.0
],
"projected_center_px": [
45.149391174316406,
491.8171081542969
41.342403411865234,
498.0172424316406
],
"reprojection_error_px": 7.179568755770828,
"reprojection_error_px": 0.15853701788730787,
"confidence": 0.1698001278724927
},
{
@@ -380,10 +362,10 @@
458.0
],
"projected_center_px": [
33.76746368408203,
455.4254150390625
29.12993621826172,
458.0780029296875
],
"reprojection_error_px": 5.199612087270121,
"reprojection_error_px": 0.1431774029836088,
"confidence": 0.07718187630567852
},
{
@@ -393,10 +375,10 @@
417.75
],
"projected_center_px": [
404.8271179199219,
424.88427734375
424.3954162597656,
417.75518798828125
],
"reprojection_error_px": 20.926543014893873,
"reprojection_error_px": 0.1047123390237159,
"confidence": 0.4316478958478293
},
{
@@ -406,10 +388,10 @@
415.25
],
"projected_center_px": [
717.5942993164062,
415.47711181640625
710.8798828125,
415.1714172363281
],
"reprojection_error_px": 6.848066362829029,
"reprojection_error_px": 0.15180512418630643,
"confidence": 0.4181682027393045
},
{
@@ -419,10 +401,10 @@
351.75
],
"projected_center_px": [
624.6567993164062,
351.91876220703125
622.6432495117188,
351.8919372558594
],
"reprojection_error_px": 1.914252939287126,
"reprojection_error_px": 0.17760025717654515,
"confidence": 0.39668368657567366
},
{
@@ -432,10 +414,10 @@
332.5
],
"projected_center_px": [
779.4948120117188,
330.6138916015625
761.2999267578125,
332.75372314453125
],
"reprojection_error_px": 18.093387306630948,
"reprojection_error_px": 0.32311721760104894,
"confidence": 0.3829765144945479
},
{
@@ -445,10 +427,10 @@
202.0
],
"projected_center_px": [
187.4725341796875,
216.80555725097656
201.81500244140625,
201.78660583496094
],
"reprojection_error_px": 20.395448581778734,
"reprojection_error_px": 0.3804781304682526,
"confidence": 0.3382587531306593
},
{
@@ -458,10 +440,10 @@
292.0
],
"projected_center_px": [
596.9345703125,
291.29638671875
594.2091064453125,
291.8497619628906
],
"reprojection_error_px": 2.7752458291668036,
"reprojection_error_px": 0.1557040481473025,
"confidence": 0.36403279165733554
},
{
@@ -471,10 +453,10 @@
268.75
],
"projected_center_px": [
695.365234375,
265.5987243652344
682.6641235351562,
268.75299072265625
],
"reprojection_error_px": 13.002871854419283,
"reprojection_error_px": 0.08592852632313926,
"confidence": 0.3623898971459892
},
{
@@ -484,10 +466,10 @@
262.5
],
"projected_center_px": [
637.9163818359375,
260.5142517089844
630.4015502929688,
262.6416015625
],
"reprojection_error_px": 7.919381713850135,
"reprojection_error_px": 0.20740900125441847,
"confidence": 0.3590718541167963
},
{
@@ -497,10 +479,10 @@
135.0
],
"projected_center_px": [
121.14615631103516,
153.30975341796875
133.0006561279297,
135.0164031982422
],
"reprojection_error_px": 21.811938942451448,
"reprojection_error_px": 0.016416315555952837,
"confidence": 0.29591817114314195
},
{
@@ -510,10 +492,10 @@
157.0
],
"projected_center_px": [
285.0270690917969,
163.84591674804688
290.9947509765625,
157.4013671875
],
"reprojection_error_px": 9.085289194921476,
"reprojection_error_px": 0.40140150902644545,
"confidence": 0.3158166687011719
},
{
@@ -523,10 +505,10 @@
182.75
],
"projected_center_px": [
439.7162170410156,
184.19300842285156
442.3343200683594,
182.8926544189453
],
"reprojection_error_px": 3.1355575056363354,
"reprojection_error_px": 0.21863239236917045,
"confidence": 0.31800273344664126
},
{
@@ -536,10 +518,10 @@
166.0
],
"projected_center_px": [
494.85260009765625,
164.6371307373047
493.92724609375,
165.67755126953125
],
"reprojection_error_px": 1.6075881169388855,
"reprojection_error_px": 0.33055455624683555,
"confidence": 0.2969848480224609
},
{
@@ -549,10 +531,10 @@
130.0
],
"projected_center_px": [
313.7091064453125,
134.91958618164062
318.8653564453125,
129.7999267578125
],
"reprojection_error_px": 6.866949049682517,
"reprojection_error_px": 0.4165508784900157,
"confidence": 0.3170967427530611
},
{
@@ -562,10 +544,10 @@
109.0
],
"projected_center_px": [
376.8421630859375,
111.31359100341797
379.8970031738281,
109.25934600830078
],
"reprojection_error_px": 3.715941179550759,
"reprojection_error_px": 0.29811119592710844,
"confidence": 0.3170967427530611
},
{
@@ -575,10 +557,10 @@
44.25
],
"projected_center_px": [
367.8004455566406,
44.72565841674805
369.5532531738281,
44.28900909423828
],
"reprojection_error_px": 1.7648615343323264,
"reprojection_error_px": 0.06601219551006923,
"confidence": 0.17828567290874034
},
{
@@ -588,10 +570,10 @@
70.5
],
"projected_center_px": [
465.4833679199219,
66.98860931396484
463.0096435546875,
70.46881103515625
],
"reprojection_error_px": 4.300811641501118,
"reprojection_error_px": 0.03264582170868849,
"confidence": 0.3167426670523156
},
{
@@ -601,10 +583,10 @@
42.0
],
"projected_center_px": [
238.1956024169922,
49.013179779052734
242.69981384277344,
41.71794509887695
],
"reprojection_error_px": 8.5009956328024,
"reprojection_error_px": 0.4119061740712104,
"confidence": 0.15449597168691093
},
{
@@ -614,10 +596,10 @@
29.5
],
"projected_center_px": [
295.6414489746094,
33.31275177001953
299.257080078125,
29.455623626708984
],
"reprojection_error_px": 5.249639660265721,
"reprojection_error_px": 0.04493762357668314,
"confidence": 0.08171792300897739
}
]

File diff suppressed because it is too large Load Diff