705 lines
16 KiB
JSON
705 lines
16 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"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"
|
|
},
|
|
"camera": {
|
|
"camera_id": "b",
|
|
"camera_matrix": [
|
|
[
|
|
1777.77783203125,
|
|
0.0,
|
|
640.0
|
|
],
|
|
[
|
|
0.0,
|
|
1777.77783203125,
|
|
360.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"estimation": {
|
|
"method": "single_camera_marker_center_lm",
|
|
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
|
|
"marker_size_m": 0.025,
|
|
"num_used_markers": 36,
|
|
"used_marker_ids": [
|
|
63,
|
|
102,
|
|
64,
|
|
58,
|
|
92,
|
|
96,
|
|
103,
|
|
62,
|
|
51,
|
|
79,
|
|
205,
|
|
217,
|
|
208,
|
|
210,
|
|
214,
|
|
206,
|
|
207,
|
|
94,
|
|
76,
|
|
100,
|
|
75,
|
|
68,
|
|
46,
|
|
50,
|
|
72,
|
|
104,
|
|
53,
|
|
60,
|
|
67,
|
|
86,
|
|
88,
|
|
70,
|
|
90,
|
|
83,
|
|
61,
|
|
91
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.009770904610742407,
|
|
0.0005557932506905666,
|
|
0.00010407952417825743,
|
|
0.00010405845495287234
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"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": [
|
|
[
|
|
0.999923050403595,
|
|
-0.01239904947578907,
|
|
0.00034589259303174913
|
|
],
|
|
[
|
|
-0.009447838179767132,
|
|
-0.7793982625007629,
|
|
-0.6264575719833374
|
|
],
|
|
[
|
|
0.008037067018449306,
|
|
0.6264061331748962,
|
|
-0.7794554233551025
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.31134694814682007,
|
|
0.05269560590386391,
|
|
1.4960466623306274
|
|
],
|
|
"rvec_rad": [
|
|
2.4645549055471876,
|
|
-0.015129595781071595,
|
|
0.005805439556216878
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.299796998500824,
|
|
-0.8999223113059998,
|
|
1.199220895767212
|
|
],
|
|
"position_mm": [
|
|
299.7969970703125,
|
|
-899.9223022460938,
|
|
1199.220947265625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 141.21302795410156,
|
|
"pitch": -0.4604949653148651,
|
|
"yaw": -0.5413467884063721
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
5.942548118985504e-08,
|
|
1.740518718497372e-09,
|
|
5.925191386549445e-09,
|
|
1.5983183447919768e-09,
|
|
2.5144002180118628e-09,
|
|
1.5878427638483482e-08
|
|
],
|
|
[
|
|
1.7405187184973633e-09,
|
|
1.3354161848474976e-08,
|
|
-6.855592471955503e-09,
|
|
-8.072628050513177e-10,
|
|
-3.451327022769324e-09,
|
|
4.779839212294198e-09
|
|
],
|
|
[
|
|
5.925191386549676e-09,
|
|
-6.855592471955499e-09,
|
|
1.0368504227021555e-07,
|
|
5.966148500610053e-09,
|
|
-1.011935122178965e-08,
|
|
-4.047425806219628e-08
|
|
],
|
|
[
|
|
1.598318344791985e-09,
|
|
-8.072628050513564e-10,
|
|
5.966148500610096e-09,
|
|
1.3288974374740166e-09,
|
|
-3.108687425138542e-10,
|
|
-2.709273862178555e-10
|
|
],
|
|
[
|
|
2.514400218011829e-09,
|
|
-3.4513270227693294e-09,
|
|
-1.0119351221789652e-08,
|
|
-3.1086874251386367e-10,
|
|
3.345854811832893e-09,
|
|
5.006445429176016e-09
|
|
],
|
|
[
|
|
1.587842763848343e-08,
|
|
4.779839212294195e-09,
|
|
-4.04742580621962e-08,
|
|
-2.709273862178758e-10,
|
|
5.00644542917601e-09,
|
|
3.9983851269468773e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.013967188228221154,
|
|
0.006621112241554149,
|
|
0.01844933373230317
|
|
],
|
|
"tvec_std_m": [
|
|
3.645404555702997e-05,
|
|
5.784336445810265e-05,
|
|
0.0001999596240981383
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.00037610398970986406,
|
|
0.0002781398888529384,
|
|
0.00031334355455498624
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.3761039897098641,
|
|
0.2781398888529384,
|
|
0.31334355455498625
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.018598436113605673,
|
|
"pitch": 0.013714811928094353,
|
|
"yaw": 0.006045644801635408
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1246.0,
|
|
678.75
|
|
],
|
|
"projected_center_px": [
|
|
1245.984375,
|
|
678.5673217773438
|
|
],
|
|
"reprojection_error_px": 0.18334523080202128,
|
|
"confidence": 0.1539593300495616
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1078.25,
|
|
665.5
|
|
],
|
|
"projected_center_px": [
|
|
1078.4459228515625,
|
|
665.2813110351562
|
|
],
|
|
"reprojection_error_px": 0.29361646259842505,
|
|
"confidence": 0.39637168760361213
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
220.5,
|
|
635.25
|
|
],
|
|
"projected_center_px": [
|
|
220.3571014404297,
|
|
635.3291625976562
|
|
],
|
|
"reprojection_error_px": 0.16336069048261112,
|
|
"confidence": 0.4633649853376546
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
307.25,
|
|
668.0
|
|
],
|
|
"projected_center_px": [
|
|
307.1698303222656,
|
|
668.0555419921875
|
|
],
|
|
"reprojection_error_px": 0.09752994475641752,
|
|
"confidence": 0.3638956157928849
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1064.5,
|
|
622.75
|
|
],
|
|
"projected_center_px": [
|
|
1064.5963134765625,
|
|
622.5699462890625
|
|
],
|
|
"reprojection_error_px": 0.20419506504790963,
|
|
"confidence": 0.46896024883690896
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
716.75,
|
|
628.0
|
|
],
|
|
"projected_center_px": [
|
|
716.8850708007812,
|
|
628.1011962890625
|
|
],
|
|
"reprojection_error_px": 0.16877443569364758,
|
|
"confidence": 0.44372569385651617
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
382.0,
|
|
633.0
|
|
],
|
|
"projected_center_px": [
|
|
381.9161071777344,
|
|
633.0272827148438
|
|
],
|
|
"reprojection_error_px": 0.08821764084885246,
|
|
"confidence": 0.45199802144368495
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
760.25,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
760.312744140625,
|
|
615.0904541015625
|
|
],
|
|
"reprojection_error_px": 0.1100852927154615,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
461.75,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
461.7844543457031,
|
|
614.947021484375
|
|
],
|
|
"reprojection_error_px": 0.06319671712722756,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
643.75,
|
|
598.75
|
|
],
|
|
"projected_center_px": [
|
|
643.6207275390625,
|
|
598.9168090820312
|
|
],
|
|
"reprojection_error_px": 0.21103705599952288,
|
|
"confidence": 0.41815762699787656
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
1181.0,
|
|
502.0
|
|
],
|
|
"projected_center_px": [
|
|
1180.801513671875,
|
|
502.1367492675781
|
|
],
|
|
"reprojection_error_px": 0.2410335757435026,
|
|
"confidence": 0.3958181457519531
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
1058.0,
|
|
503.25
|
|
],
|
|
"projected_center_px": [
|
|
1058.0533447265625,
|
|
503.37847900390625
|
|
],
|
|
"reprojection_error_px": 0.13911331459199042,
|
|
"confidence": 0.4015868133874269
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
688.75,
|
|
507.0
|
|
],
|
|
"projected_center_px": [
|
|
688.9879150390625,
|
|
507.1119079589844
|
|
],
|
|
"reprojection_error_px": 0.26292005837546795,
|
|
"confidence": 0.3776
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
291.0,
|
|
441.75
|
|
],
|
|
"projected_center_px": [
|
|
291.1419677734375,
|
|
441.380126953125
|
|
],
|
|
"reprojection_error_px": 0.3961829369109645,
|
|
"confidence": 0.3320910299473707
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
686.25,
|
|
427.5
|
|
],
|
|
"projected_center_px": [
|
|
686.1612548828125,
|
|
427.895263671875
|
|
],
|
|
"reprojection_error_px": 0.40510377204949694,
|
|
"confidence": 0.3465862068965517
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1043.0,
|
|
424.5
|
|
],
|
|
"projected_center_px": [
|
|
1042.8582763671875,
|
|
424.4147644042969
|
|
],
|
|
"reprojection_error_px": 0.16538045492874576,
|
|
"confidence": 0.3579602826436361
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"observed_center_px": [
|
|
1162.0,
|
|
423.25
|
|
],
|
|
"projected_center_px": [
|
|
1161.501708984375,
|
|
423.257080078125
|
|
],
|
|
"reprojection_error_px": 0.4983413125146761,
|
|
"confidence": 0.343462485354258
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"observed_center_px": [
|
|
1252.0,
|
|
279.5
|
|
],
|
|
"projected_center_px": [
|
|
1251.907470703125,
|
|
279.6442565917969
|
|
],
|
|
"reprojection_error_px": 0.1713815481813375,
|
|
"confidence": 0.06057156860351561
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"observed_center_px": [
|
|
1046.0,
|
|
287.5
|
|
],
|
|
"projected_center_px": [
|
|
1046.1029052734375,
|
|
287.1553955078125
|
|
],
|
|
"reprojection_error_px": 0.3596411424420896,
|
|
"confidence": 0.2459421895345052
|
|
},
|
|
{
|
|
"marker_id": 100,
|
|
"observed_center_px": [
|
|
1173.25,
|
|
281.5
|
|
],
|
|
"projected_center_px": [
|
|
1173.5185546875,
|
|
281.41693115234375
|
|
],
|
|
"reprojection_error_px": 0.281108615359188,
|
|
"confidence": 0.24407473894265982
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
271.75,
|
|
271.5
|
|
],
|
|
"projected_center_px": [
|
|
271.7907409667969,
|
|
271.4751892089844
|
|
],
|
|
"reprojection_error_px": 0.047701171121525825,
|
|
"confidence": 0.23896265492072474
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
924.0,
|
|
285.25
|
|
],
|
|
"projected_center_px": [
|
|
924.0093994140625,
|
|
285.10589599609375
|
|
],
|
|
"reprojection_error_px": 0.14441022445287882,
|
|
"confidence": 0.24909137483284013
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
881.75,
|
|
273.5
|
|
],
|
|
"projected_center_px": [
|
|
882.0733032226562,
|
|
273.3749084472656
|
|
],
|
|
"reprojection_error_px": 0.34665958856695955,
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
918.75,
|
|
251.25
|
|
],
|
|
"projected_center_px": [
|
|
918.6849975585938,
|
|
251.76016235351562
|
|
],
|
|
"reprojection_error_px": 0.5142868307990927,
|
|
"confidence": 0.2211554500544793
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
777.75,
|
|
267.25
|
|
],
|
|
"projected_center_px": [
|
|
777.6580200195312,
|
|
267.11578369140625
|
|
],
|
|
"reprojection_error_px": 0.1627093552920801,
|
|
"confidence": 0.21841319450965294
|
|
},
|
|
{
|
|
"marker_id": 104,
|
|
"observed_center_px": [
|
|
1184.0,
|
|
228.0
|
|
],
|
|
"projected_center_px": [
|
|
1184.15673828125,
|
|
227.8562469482422
|
|
],
|
|
"reprojection_error_px": 0.2126777578847596,
|
|
"confidence": 0.22417849731445313
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
825.5,
|
|
252.25
|
|
],
|
|
"projected_center_px": [
|
|
825.0927734375,
|
|
252.29660034179688
|
|
],
|
|
"reprojection_error_px": 0.4098842093337483,
|
|
"confidence": 0.22367025973033955
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"observed_center_px": [
|
|
765.0,
|
|
197.25
|
|
],
|
|
"projected_center_px": [
|
|
765.0194702148438,
|
|
197.24411010742188
|
|
],
|
|
"reprojection_error_px": 0.020341585499749886,
|
|
"confidence": 0.19874429613402733
|
|
},
|
|
{
|
|
"marker_id": 67,
|
|
"observed_center_px": [
|
|
859.25,
|
|
209.25
|
|
],
|
|
"projected_center_px": [
|
|
859.3396606445312,
|
|
209.17727661132812
|
|
],
|
|
"reprojection_error_px": 0.11544575539048531,
|
|
"confidence": 0.19627771759033205
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
690.25,
|
|
192.0
|
|
],
|
|
"projected_center_px": [
|
|
689.9830322265625,
|
|
191.71383666992188
|
|
],
|
|
"reprojection_error_px": 0.39135820361349044,
|
|
"confidence": 0.18966921411877496
|
|
},
|
|
{
|
|
"marker_id": 88,
|
|
"observed_center_px": [
|
|
1105.5,
|
|
170.0
|
|
],
|
|
"projected_center_px": [
|
|
1105.278076171875,
|
|
170.22833251953125
|
|
],
|
|
"reprojection_error_px": 0.3184115653759191,
|
|
"confidence": 0.17697203515072252
|
|
},
|
|
{
|
|
"marker_id": 70,
|
|
"observed_center_px": [
|
|
938.0,
|
|
183.5
|
|
],
|
|
"projected_center_px": [
|
|
938.05810546875,
|
|
183.32823181152344
|
|
],
|
|
"reprojection_error_px": 0.1813299646257538,
|
|
"confidence": 0.193995418548584
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"observed_center_px": [
|
|
978.5,
|
|
170.75
|
|
],
|
|
"projected_center_px": [
|
|
978.7138671875,
|
|
171.03016662597656
|
|
],
|
|
"reprojection_error_px": 0.35246632775380293,
|
|
"confidence": 0.17958947754575058
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
361.0,
|
|
159.75
|
|
],
|
|
"projected_center_px": [
|
|
361.12615966796875,
|
|
159.62738037109375
|
|
],
|
|
"reprojection_error_px": 0.1759313366489657,
|
|
"confidence": 0.17676838843571283
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
292.25,
|
|
162.5
|
|
],
|
|
"projected_center_px": [
|
|
292.22821044921875,
|
|
162.68539428710938
|
|
],
|
|
"reprojection_error_px": 0.18667036780389662,
|
|
"confidence": 0.1668050360320266
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
1059.25,
|
|
161.75
|
|
],
|
|
"projected_center_px": [
|
|
1059.4664306640625,
|
|
161.80316162109375
|
|
],
|
|
"reprojection_error_px": 0.2228640623874791,
|
|
"confidence": 0.17612778902053833
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |