663 lines
15 KiB
JSON
663 lines
15 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:47:03Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_g_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "g",
|
|
"camera_matrix": [
|
|
[
|
|
1992.8416748046875,
|
|
0.0,
|
|
719.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
1997.40380859375,
|
|
537.7935791015625
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.019999999552965164,
|
|
-0.009999999776482582,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"estimation": {
|
|
"method": "single_camera_marker_center_lm",
|
|
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
|
|
"marker_size_m": 0.025,
|
|
"num_used_markers": 33,
|
|
"used_marker_ids": [
|
|
86,
|
|
64,
|
|
58,
|
|
72,
|
|
69,
|
|
53,
|
|
56,
|
|
103,
|
|
208,
|
|
46,
|
|
68,
|
|
55,
|
|
96,
|
|
66,
|
|
62,
|
|
217,
|
|
97,
|
|
47,
|
|
54,
|
|
85,
|
|
205,
|
|
92,
|
|
105,
|
|
102,
|
|
59,
|
|
57,
|
|
48,
|
|
63,
|
|
65,
|
|
71,
|
|
87,
|
|
80,
|
|
78
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.00951772019775318,
|
|
0.001335710055074358,
|
|
0.001170621365829947,
|
|
0.0011706164643689842
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.3117799838936732,
|
|
"residual_median_px": 2.8682997896786846,
|
|
"residual_max_px": 5.842530264661472,
|
|
"sigma2_normalized": 1.50737719711073e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7071290612220764,
|
|
-0.7070793509483337,
|
|
0.0026948123704642057
|
|
],
|
|
[
|
|
-0.6403219699859619,
|
|
0.6387410759925842,
|
|
-0.4266117513179779
|
|
],
|
|
[
|
|
0.29992708563804626,
|
|
-0.3033951222896576,
|
|
-0.9044308662414551
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.0005102092400193214,
|
|
0.3325340747833252,
|
|
1.3833186626434326
|
|
],
|
|
"rvec_rad": [
|
|
1.1160849642488921,
|
|
-2.6923026044845724,
|
|
0.6046822899267599
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.20160506665706635,
|
|
0.20764970779418945,
|
|
1.3929775953292847
|
|
],
|
|
"position_mm": [
|
|
-201.60507202148438,
|
|
207.6497039794922,
|
|
1392.9775390625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.45574951171875,
|
|
"pitch": -17.453222274780273,
|
|
"yaw": -137.83840942382812
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
5.58320587161524e-06,
|
|
-6.8902792877331424e-06,
|
|
4.969512462236647e-06,
|
|
4.2239329065891967e-07,
|
|
1.1893011278317374e-06,
|
|
4.593450334508389e-06
|
|
],
|
|
[
|
|
-6.890279287733074e-06,
|
|
1.9341926645214804e-05,
|
|
-1.4063981268542203e-05,
|
|
-3.2365298254439447e-06,
|
|
-1.6310507870565797e-06,
|
|
-1.0869532938717866e-05
|
|
],
|
|
[
|
|
4.969512462236506e-06,
|
|
-1.4063981268542291e-05,
|
|
5.0767993754100924e-05,
|
|
5.40678834771301e-06,
|
|
-2.860306050947767e-06,
|
|
4.4731851796001974e-08
|
|
],
|
|
[
|
|
4.223932906588989e-07,
|
|
-3.236529825443938e-06,
|
|
5.4067883477129695e-06,
|
|
1.118202228011883e-06,
|
|
-1.6033893532181102e-07,
|
|
6.207772534979055e-07
|
|
],
|
|
[
|
|
1.1893011278317463e-06,
|
|
-1.6310507870565854e-06,
|
|
-2.8603060509477423e-06,
|
|
-1.6033893532180954e-07,
|
|
7.767679460676002e-07,
|
|
1.7524292034920509e-06
|
|
],
|
|
[
|
|
4.593450334508346e-06,
|
|
-1.0869532938717832e-05,
|
|
4.4731851795903976e-08,
|
|
6.207772534979035e-07,
|
|
1.7524292034920515e-06,
|
|
1.0964856268736361e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.13538309971618082,
|
|
0.2519837288643307,
|
|
0.40824195310295963
|
|
],
|
|
"tvec_std_m": [
|
|
0.0010574508158831231,
|
|
0.0008813443969684043,
|
|
0.003311322435030506
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.005947055728569302,
|
|
0.009217054512441494,
|
|
0.004077373417241326
|
|
],
|
|
"camera_center_std_mm": [
|
|
5.9470557285693015,
|
|
9.217054512441495,
|
|
4.0773734172413265
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.361294409120736,
|
|
"pitch": 0.2577585659898314,
|
|
"yaw": 0.05732439490479557
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
70.5,
|
|
959.0
|
|
],
|
|
"projected_center_px": [
|
|
71.94255828857422,
|
|
956.1572265625
|
|
],
|
|
"reprojection_error_px": 3.1878417829135977,
|
|
"confidence": 0.5795855489013004
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
921.75,
|
|
859.0
|
|
],
|
|
"projected_center_px": [
|
|
922.3649291992188,
|
|
863.326171875
|
|
],
|
|
"reprojection_error_px": 4.369656852899645,
|
|
"confidence": 0.616540888528013
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
880.5,
|
|
772.75
|
|
],
|
|
"projected_center_px": [
|
|
878.8746948242188,
|
|
769.641357421875
|
|
],
|
|
"reprojection_error_px": 3.507887625473907,
|
|
"confidence": 0.5876289194459208
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
115.5,
|
|
788.0
|
|
],
|
|
"projected_center_px": [
|
|
114.24275207519531,
|
|
789.0045776367188
|
|
],
|
|
"reprojection_error_px": 1.6093006470579454,
|
|
"confidence": 0.5322501871361803
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
976.75,
|
|
755.5
|
|
],
|
|
"projected_center_px": [
|
|
977.748046875,
|
|
751.1764526367188
|
|
],
|
|
"reprojection_error_px": 4.437246822888436,
|
|
"confidence": 0.532194626785269
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
54.0,
|
|
764.5
|
|
],
|
|
"projected_center_px": [
|
|
57.47699737548828,
|
|
764.1295166015625
|
|
],
|
|
"reprojection_error_px": 3.496679667580403,
|
|
"confidence": 0.32594286952973284
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
97.75,
|
|
709.25
|
|
],
|
|
"projected_center_px": [
|
|
94.3028335571289,
|
|
713.9672241210938
|
|
],
|
|
"reprojection_error_px": 5.842530264661472,
|
|
"confidence": 0.49634199673814006
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
801.0,
|
|
744.25
|
|
],
|
|
"projected_center_px": [
|
|
797.0452270507812,
|
|
746.8309936523438
|
|
],
|
|
"reprojection_error_px": 4.722473643474477,
|
|
"confidence": 0.5606734879266068
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
475.0,
|
|
604.0
|
|
],
|
|
"projected_center_px": [
|
|
478.0499572753906,
|
|
604.7845458984375
|
|
],
|
|
"reprojection_error_px": 3.1492462032148754,
|
|
"confidence": 0.5327104283346404
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
51.25,
|
|
694.5
|
|
],
|
|
"projected_center_px": [
|
|
45.59244918823242,
|
|
695.2250366210938
|
|
],
|
|
"reprojection_error_px": 5.703819710479901,
|
|
"confidence": 0.30565156672409355
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
28.25,
|
|
652.0
|
|
],
|
|
"projected_center_px": [
|
|
31.910913467407227,
|
|
650.1889038085938
|
|
],
|
|
"reprojection_error_px": 4.084404097340251,
|
|
"confidence": 0.06745941479560678
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
699.0,
|
|
531.25
|
|
],
|
|
"projected_center_px": [
|
|
700.8445434570312,
|
|
531.174072265625
|
|
],
|
|
"reprojection_error_px": 1.8461055185779915,
|
|
"confidence": 0.5040026997131127
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
552.25,
|
|
523.5
|
|
],
|
|
"projected_center_px": [
|
|
555.8334350585938,
|
|
522.9454956054688
|
|
],
|
|
"reprojection_error_px": 3.6260835542928764,
|
|
"confidence": 0.47748688997397615
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
857.75,
|
|
509.0
|
|
],
|
|
"projected_center_px": [
|
|
856.58154296875,
|
|
509.82562255859375
|
|
],
|
|
"reprojection_error_px": 1.4307146616766229,
|
|
"confidence": 0.46855634071087016
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
516.0,
|
|
508.0
|
|
],
|
|
"projected_center_px": [
|
|
515.2904663085938,
|
|
503.95849609375
|
|
],
|
|
"reprojection_error_px": 4.103314743408625,
|
|
"confidence": 0.5013956291249434
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
229.75,
|
|
365.5
|
|
],
|
|
"projected_center_px": [
|
|
227.64036560058594,
|
|
361.760986328125
|
|
],
|
|
"reprojection_error_px": 4.29310849358123,
|
|
"confidence": 0.3831651191236719
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
765.75,
|
|
436.5
|
|
],
|
|
"projected_center_px": [
|
|
768.2391967773438,
|
|
437.8963928222656
|
|
],
|
|
"reprojection_error_px": 2.854122196125013,
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
671.25,
|
|
462.5
|
|
],
|
|
"projected_center_px": [
|
|
668.906005859375,
|
|
463.7249450683594
|
|
],
|
|
"reprojection_error_px": 2.6447682226959484,
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
709.25,
|
|
434.5
|
|
],
|
|
"projected_center_px": [
|
|
709.5513916015625,
|
|
430.9793395996094
|
|
],
|
|
"reprojection_error_px": 3.5335373993168777,
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
555.0,
|
|
319.75
|
|
],
|
|
"projected_center_px": [
|
|
556.2825317382812,
|
|
321.96875
|
|
],
|
|
"reprojection_error_px": 2.562760078938082,
|
|
"confidence": 0.33473633767097827
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
148.25,
|
|
284.75
|
|
],
|
|
"projected_center_px": [
|
|
150.0712127685547,
|
|
286.5436706542969
|
|
],
|
|
"reprojection_error_px": 2.556182772110087,
|
|
"confidence": 0.3904275743165678
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
328.75,
|
|
309.5
|
|
],
|
|
"projected_center_px": [
|
|
328.0880126953125,
|
|
312.2908630371094
|
|
],
|
|
"reprojection_error_px": 2.8682997896786846,
|
|
"confidence": 0.38026711457279644
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
502.0,
|
|
341.5
|
|
],
|
|
"projected_center_px": [
|
|
498.3053894042969,
|
|
341.2066955566406
|
|
],
|
|
"reprojection_error_px": 3.7062346054150637,
|
|
"confidence": 0.4039013519389363
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
359.0,
|
|
279.5
|
|
],
|
|
"projected_center_px": [
|
|
359.4729309082031,
|
|
281.3524169921875
|
|
],
|
|
"reprojection_error_px": 1.911834814223974,
|
|
"confidence": 0.3834923705135548
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
425.5,
|
|
258.75
|
|
],
|
|
"projected_center_px": [
|
|
428.13494873046875,
|
|
258.4224853515625
|
|
],
|
|
"reprojection_error_px": 2.6552251612885898,
|
|
"confidence": 0.3475062428717297
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
521.0,
|
|
213.25
|
|
],
|
|
"projected_center_px": [
|
|
521.5573120117188,
|
|
215.05035400390625
|
|
],
|
|
"reprojection_error_px": 1.8846408723646173,
|
|
"confidence": 0.3370835485575886
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
415.5,
|
|
187.5
|
|
],
|
|
"projected_center_px": [
|
|
416.5112609863281,
|
|
185.44781494140625
|
|
],
|
|
"reprojection_error_px": 2.2878182395428106,
|
|
"confidence": 0.33662878222170856
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
275.75,
|
|
183.25
|
|
],
|
|
"projected_center_px": [
|
|
273.7435607910156,
|
|
182.21124267578125
|
|
],
|
|
"reprojection_error_px": 2.259383782797412,
|
|
"confidence": 0.32781322776968225
|
|
},
|
|
{
|
|
"marker_id": 65,
|
|
"observed_center_px": [
|
|
310.75,
|
|
124.25
|
|
],
|
|
"projected_center_px": [
|
|
309.0569152832031,
|
|
123.45216369628906
|
|
],
|
|
"reprojection_error_px": 1.8716513098786018,
|
|
"confidence": 0.323424516536529
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
337.25,
|
|
166.0
|
|
],
|
|
"projected_center_px": [
|
|
337.42669677734375,
|
|
168.60073852539062
|
|
],
|
|
"reprojection_error_px": 2.6067340924180717,
|
|
"confidence": 0.2963584890699928
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
161.5,
|
|
66.0
|
|
],
|
|
"projected_center_px": [
|
|
161.3383026123047,
|
|
64.83960723876953
|
|
],
|
|
"reprojection_error_px": 1.1716046284918644,
|
|
"confidence": 0.27798930354872264
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
299.25,
|
|
56.5
|
|
],
|
|
"projected_center_px": [
|
|
298.5524597167969,
|
|
58.831581115722656
|
|
],
|
|
"reprojection_error_px": 2.433687109282046,
|
|
"confidence": 0.24658567276025462
|
|
},
|
|
{
|
|
"marker_id": 78,
|
|
"observed_center_px": [
|
|
333.75,
|
|
82.5
|
|
],
|
|
"projected_center_px": [
|
|
335.6229553222656,
|
|
79.66427612304688
|
|
],
|
|
"reprojection_error_px": 3.3984248624215887,
|
|
"confidence": 0.29355437233363646
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |