275 lines
6.3 KiB
JSON
275 lines
6.3 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:45:41Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_c_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "c",
|
|
"camera_matrix": [
|
|
[
|
|
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": 4,
|
|
"used_marker_ids": [
|
|
58,
|
|
96,
|
|
103,
|
|
79
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
5,
|
|
6,
|
|
7,
|
|
8,
|
|
9
|
|
],
|
|
"rms": [
|
|
0.006733409367639859,
|
|
0.0018627805768104356,
|
|
0.0009544819610140259,
|
|
0.0007064582879965275,
|
|
0.0006472234129836755,
|
|
0.0006087809322017009,
|
|
0.0005913043060991373,
|
|
0.0005896796180407396,
|
|
0.0005896548496144336,
|
|
0.0005896547336603714
|
|
],
|
|
"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
|
|
]
|
|
},
|
|
"residual_rms_px": 1.671542644192701,
|
|
"residual_median_px": 1.624785191226359,
|
|
"residual_max_px": 2.147408135863507,
|
|
"sigma2_normalized": 1.3907708183002074e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9988023042678833,
|
|
0.009278332814574242,
|
|
0.04804018884897232
|
|
],
|
|
[
|
|
0.048907794058322906,
|
|
-0.21752753853797913,
|
|
-0.9748280644416809
|
|
],
|
|
[
|
|
0.0014052846236154437,
|
|
0.9760100841522217,
|
|
-0.21772079169750214
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.2148105502128601,
|
|
0.11477137356996536,
|
|
0.9766083359718323
|
|
],
|
|
"rvec_rad": [
|
|
1.7899090301279232,
|
|
0.04278788187776752,
|
|
0.03636033499012226
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.20756764709949493,
|
|
-0.9262205958366394,
|
|
0.33482983708381653
|
|
],
|
|
"position_mm": [
|
|
207.56764221191406,
|
|
-926.2205810546875,
|
|
334.829833984375
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 102.57521057128906,
|
|
"pitch": -0.08051689714193344,
|
|
"yaw": 2.803331136703491
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.0012295980257712527,
|
|
0.0003371529828226649,
|
|
-0.00035058491112908795,
|
|
7.234240356003337e-05,
|
|
-0.00021374570240975446,
|
|
3.508108790919336e-05
|
|
],
|
|
[
|
|
0.0003371529828230177,
|
|
0.002891728658996285,
|
|
-0.006138438176657985,
|
|
0.0007752269288347408,
|
|
0.0003653149573178701,
|
|
0.001632926438372239
|
|
],
|
|
[
|
|
-0.00035058491112984494,
|
|
-0.006138438176658081,
|
|
0.01322787063869498,
|
|
-0.0016564221871981694,
|
|
-0.0008652162252529065,
|
|
-0.0035313959812201994
|
|
],
|
|
[
|
|
7.234240356012826e-05,
|
|
0.0007752269288347459,
|
|
-0.0016564221871981544,
|
|
0.0002086494141553395,
|
|
0.00010246894891957735,
|
|
0.00044103844001819336
|
|
],
|
|
[
|
|
-0.00021374570240970098,
|
|
0.0003653149573179477,
|
|
-0.0008652162252530585,
|
|
0.00010246894891959748,
|
|
0.00010346194627960385,
|
|
0.00024382899776285898
|
|
],
|
|
[
|
|
3.508108790939978e-05,
|
|
0.0016329264383722964,
|
|
-0.003531395981220267,
|
|
0.00044103844001820594,
|
|
0.00024382899776282237,
|
|
0.000953485633592603
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
2.009112293268789,
|
|
3.0810688412081855,
|
|
6.5897297159930455
|
|
],
|
|
"tvec_std_m": [
|
|
0.014444701940688824,
|
|
0.010171624564424497,
|
|
0.03087856268663752
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.09464626027717368,
|
|
0.013952879483745332,
|
|
0.026426121899376365
|
|
],
|
|
"camera_center_std_mm": [
|
|
94.64626027717368,
|
|
13.952879483745331,
|
|
26.426121899376366
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 1.8727063897616572,
|
|
"pitch": 6.145964949565449,
|
|
"yaw": 1.5116892623332454
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
283.0,
|
|
1033.75
|
|
],
|
|
"projected_center_px": [
|
|
283.1031188964844,
|
|
1035.16845703125
|
|
],
|
|
"reprojection_error_px": 1.4222003573036812,
|
|
"confidence": 0.3455642187784726
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
1097.25,
|
|
1038.5
|
|
],
|
|
"projected_center_px": [
|
|
1096.7867431640625,
|
|
1037.505859375
|
|
],
|
|
"reprojection_error_px": 1.0967782265883173,
|
|
"confidence": 0.24062095751888135
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
439.25,
|
|
1008.75
|
|
],
|
|
"projected_center_px": [
|
|
438.9738464355469,
|
|
1006.6204223632812
|
|
],
|
|
"reprojection_error_px": 2.147408135863507,
|
|
"confidence": 0.5403933035820727
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
946.0,
|
|
998.25
|
|
],
|
|
"projected_center_px": [
|
|
946.6526489257812,
|
|
999.9568481445312
|
|
],
|
|
"reprojection_error_px": 1.8273700251490366,
|
|
"confidence": 0.46771638047871156
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |