299 lines
6.9 KiB
JSON
299 lines
6.9 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:34:54Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_e_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "e",
|
|
"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": 7,
|
|
"used_marker_ids": [
|
|
63,
|
|
48,
|
|
102,
|
|
85,
|
|
62,
|
|
214,
|
|
215
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.005623463791805394,
|
|
0.0009697594000666106,
|
|
0.0008808455649700688,
|
|
0.0008808401156058426
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 2.4914239333181887,
|
|
"residual_median_px": 2.3117083994036483,
|
|
"residual_max_px": 3.9694075096077257,
|
|
"sigma2_normalized": 1.3577887903239706e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.6308825612068176,
|
|
0.775878369808197,
|
|
9.193987352773547e-05
|
|
],
|
|
[
|
|
0.207814022898674,
|
|
-0.16886365413665771,
|
|
-0.9634824395179749
|
|
],
|
|
[
|
|
-0.7475296258926392,
|
|
0.6078633666038513,
|
|
-0.26777154207229614
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.05484256148338318,
|
|
-0.011260757222771645,
|
|
1.5605725049972534
|
|
],
|
|
"rvec_rad": [
|
|
1.704353528988324,
|
|
0.8109045731970925,
|
|
-0.6161485672010575
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
1.2035136222839355,
|
|
-0.9079651832580566,
|
|
0.40703240036964417
|
|
],
|
|
"position_mm": [
|
|
1203.513671875,
|
|
-907.9652099609375,
|
|
407.03240966796875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 113.77409362792969,
|
|
"pitch": 48.376834869384766,
|
|
"yaw": 18.23198890686035
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.3784666545654703e-05,
|
|
-1.2698900511908351e-05,
|
|
-1.783023623268178e-05,
|
|
-1.2110961500366638e-06,
|
|
-3.556762229894626e-06,
|
|
1.0489905506096287e-05
|
|
],
|
|
[
|
|
-1.2698900511908461e-05,
|
|
1.4234657019659438e-05,
|
|
1.6005526166836938e-05,
|
|
2.3288716575313068e-06,
|
|
-2.589703327118715e-06,
|
|
-4.300671949935154e-07
|
|
],
|
|
[
|
|
-1.7830236232682023e-05,
|
|
1.6005526166836948e-05,
|
|
6.124690517034821e-05,
|
|
-6.303621031470249e-06,
|
|
-5.552792343270712e-06,
|
|
1.3097820369388056e-05
|
|
],
|
|
[
|
|
-1.2110961500366479e-06,
|
|
2.3288716575312987e-06,
|
|
-6.303621031470261e-06,
|
|
2.6962360610646413e-06,
|
|
4.231362421772377e-07,
|
|
-9.274105510410507e-07
|
|
],
|
|
[
|
|
-3.556762229894551e-06,
|
|
-2.5897033271187564e-06,
|
|
-5.552792343270799e-06,
|
|
4.231362421772384e-07,
|
|
2.9209253984547397e-06,
|
|
-1.511155499960027e-06
|
|
],
|
|
[
|
|
1.0489905506096302e-05,
|
|
-4.300671949935176e-07,
|
|
1.3097820369388046e-05,
|
|
-9.274105510410542e-07,
|
|
-1.51115549996003e-06,
|
|
2.2813624594942336e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.3330293048203185,
|
|
0.2161703551701233,
|
|
0.44839907360719006
|
|
],
|
|
"tvec_std_m": [
|
|
0.0016420219429303133,
|
|
0.0017090715018555367,
|
|
0.004776361020164026
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0028784227930679055,
|
|
0.006455728666205094,
|
|
0.005669667945072449
|
|
],
|
|
"camera_center_std_mm": [
|
|
2.8784227930679056,
|
|
6.4557286662050934,
|
|
5.669667945072449
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.346919335472465,
|
|
"pitch": 0.25323066223012297,
|
|
"yaw": 0.3342650123808658
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1316.0,
|
|
1051.75
|
|
],
|
|
"projected_center_px": [
|
|
1317.4359130859375,
|
|
1052.0526123046875
|
|
],
|
|
"reprojection_error_px": 1.4674537802993437,
|
|
"confidence": 0.11759330769564214
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
1024.25,
|
|
1030.5
|
|
],
|
|
"projected_center_px": [
|
|
1023.4993286132812,
|
|
1032.8035888671875
|
|
],
|
|
"reprojection_error_px": 2.422814313947406,
|
|
"confidence": 0.5220905934972447
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1106.0,
|
|
937.0
|
|
],
|
|
"projected_center_px": [
|
|
1102.968017578125,
|
|
934.4381103515625
|
|
],
|
|
"reprojection_error_px": 3.9694075096077257,
|
|
"confidence": 0.6148113550449494
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
758.75,
|
|
884.75
|
|
],
|
|
"projected_center_px": [
|
|
760.7599487304688,
|
|
882.7752685546875
|
|
],
|
|
"reprojection_error_px": 2.8177044167582475,
|
|
"confidence": 0.49451708291716645
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
829.25,
|
|
758.0
|
|
],
|
|
"projected_center_px": [
|
|
830.396240234375,
|
|
759.6983642578125
|
|
],
|
|
"reprojection_error_px": 2.048977263689146,
|
|
"confidence": 0.35910018217659384
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
961.75,
|
|
634.75
|
|
],
|
|
"projected_center_px": [
|
|
963.2130737304688,
|
|
634.9699096679688
|
|
],
|
|
"reprojection_error_px": 1.4795083652530898,
|
|
"confidence": 0.26413868578781535
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
771.5,
|
|
622.0
|
|
],
|
|
"projected_center_px": [
|
|
769.1882934570312,
|
|
622.0029296875
|
|
],
|
|
"reprojection_error_px": 2.3117083994036483,
|
|
"confidence": 0.0981473196618757
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |