635 lines
14 KiB
JSON
635 lines
14 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:36:56Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_f_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"camera_matrix": [
|
|
[
|
|
6775.66162109375,
|
|
0.0,
|
|
2447.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
6791.1728515625,
|
|
1629.7935791015625
|
|
],
|
|
[
|
|
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": 31,
|
|
"used_marker_ids": [
|
|
68,
|
|
46,
|
|
208,
|
|
62,
|
|
56,
|
|
54,
|
|
47,
|
|
96,
|
|
97,
|
|
53,
|
|
72,
|
|
55,
|
|
79,
|
|
214,
|
|
66,
|
|
95,
|
|
103,
|
|
211,
|
|
82,
|
|
73,
|
|
58,
|
|
210,
|
|
69,
|
|
64,
|
|
52,
|
|
101,
|
|
84,
|
|
81,
|
|
83,
|
|
75,
|
|
61
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.007721368373731697,
|
|
0.001413365381477407,
|
|
0.0013903881539460154,
|
|
0.0013903874512819585
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 13.372437604867276,
|
|
"residual_median_px": 13.121564090676607,
|
|
"residual_max_px": 20.727857859106575,
|
|
"sigma2_normalized": 2.1403033995417633e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.3155770003795624,
|
|
0.9488997459411621,
|
|
-0.0006727461004629731
|
|
],
|
|
[
|
|
0.9172019362449646,
|
|
-0.30521678924560547,
|
|
-0.2560924291610718
|
|
],
|
|
[
|
|
-0.24321135878562927,
|
|
0.08019983768463135,
|
|
-0.9666520953178406
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.12645868957042694,
|
|
-0.19935236871242523,
|
|
1.4969873428344727
|
|
],
|
|
"rvec_rad": [
|
|
2.3712477452727123,
|
|
1.7101765882227198,
|
|
-0.22350598229465715
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.507023274898529,
|
|
-0.3009004592895508,
|
|
1.3960983753204346
|
|
],
|
|
"position_mm": [
|
|
507.0232849121094,
|
|
-300.90045166015625,
|
|
1396.098388671875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 175.25721740722656,
|
|
"pitch": 14.076154708862305,
|
|
"yaw": 71.0134506225586
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.8696468937160073e-05,
|
|
1.6556710663005e-05,
|
|
-4.086900609229009e-07,
|
|
-2.018532800352929e-07,
|
|
1.0793101321065652e-07,
|
|
1.6797758561439976e-06
|
|
],
|
|
[
|
|
1.6556710663005083e-05,
|
|
1.4760795005299349e-05,
|
|
-3.3204261067061134e-06,
|
|
5.78412121536233e-07,
|
|
-1.0174113672621083e-07,
|
|
1.7015896281028239e-06
|
|
],
|
|
[
|
|
-4.0869006092454636e-07,
|
|
-3.3204261067075186e-06,
|
|
0.00013731287816679913,
|
|
7.828292944928809e-07,
|
|
-2.1003458899138964e-06,
|
|
-2.4462962260281677e-05
|
|
],
|
|
[
|
|
-2.0185328003530093e-07,
|
|
5.784121215362206e-07,
|
|
7.828292944929379e-07,
|
|
3.2114724581710764e-07,
|
|
-2.514998864534147e-08,
|
|
3.8467472318487653e-07
|
|
],
|
|
[
|
|
1.0793101321068247e-07,
|
|
-1.0174113672620383e-07,
|
|
-2.100345889913899e-06,
|
|
-2.5149988645342405e-08,
|
|
1.9197761178098523e-07,
|
|
4.951456497053724e-07
|
|
],
|
|
[
|
|
1.6797758561442917e-06,
|
|
1.7015896281030704e-06,
|
|
-2.4462962260281568e-05,
|
|
3.8467472318488627e-07,
|
|
4.951456497053669e-07,
|
|
8.180890142224727e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.3069282496770603,
|
|
0.22012912477593313,
|
|
0.6713952549611572
|
|
],
|
|
"tvec_std_m": [
|
|
0.0005666985493338655,
|
|
0.00043815249831649395,
|
|
0.002860225540446894
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.010938307851781431,
|
|
0.010503802347679364,
|
|
0.004692242955278546
|
|
],
|
|
"camera_center_std_mm": [
|
|
10.938307851781431,
|
|
10.503802347679365,
|
|
4.692242955278545
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.45402710393436113,
|
|
"pitch": 0.41015818755278655,
|
|
"yaw": 0.09426904631416506
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
4744.5,
|
|
2999.75
|
|
],
|
|
"projected_center_px": [
|
|
4729.76513671875,
|
|
3002.9794921875
|
|
],
|
|
"reprojection_error_px": 15.084621828413633,
|
|
"confidence": 0.30135663156888853
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
4705.5,
|
|
2797.75
|
|
],
|
|
"projected_center_px": [
|
|
4724.20166015625,
|
|
2806.688232421875
|
|
],
|
|
"reprojection_error_px": 20.727857859106575,
|
|
"confidence": 0.29945523082618064
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
3186.75,
|
|
2361.0
|
|
],
|
|
"projected_center_px": [
|
|
3178.575439453125,
|
|
2350.9482421875
|
|
],
|
|
"reprojection_error_px": 12.95612886844215,
|
|
"confidence": 0.28153922144722565
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
2875.0,
|
|
2730.5
|
|
],
|
|
"projected_center_px": [
|
|
2870.2998046875,
|
|
2748.490234375
|
|
],
|
|
"reprojection_error_px": 18.594094999302296,
|
|
"confidence": 0.5391729205217528
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
4563.5,
|
|
2666.75
|
|
],
|
|
"projected_center_px": [
|
|
4576.7470703125,
|
|
2656.582763671875
|
|
],
|
|
"reprojection_error_px": 16.699028906384456,
|
|
"confidence": 0.23662851380960875
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
2076.5,
|
|
2683.0
|
|
],
|
|
"projected_center_px": [
|
|
2067.39013671875,
|
|
2699.156494140625
|
|
],
|
|
"reprojection_error_px": 18.547827687336245,
|
|
"confidence": 0.8724709769123867
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
2261.5,
|
|
2640.5
|
|
],
|
|
"projected_center_px": [
|
|
2271.212890625,
|
|
2640.8857421875
|
|
],
|
|
"reprojection_error_px": 9.720547378025076,
|
|
"confidence": 0.837781992945234
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
2777.5,
|
|
2609.25
|
|
],
|
|
"projected_center_px": [
|
|
2763.64453125,
|
|
2605.530517578125
|
|
],
|
|
"reprojection_error_px": 14.346029547190529,
|
|
"confidence": 0.599758062460182
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
1886.75,
|
|
2577.75
|
|
],
|
|
"projected_center_px": [
|
|
1880.448486328125,
|
|
2570.0244140625
|
|
],
|
|
"reprojection_error_px": 9.969641549951799,
|
|
"confidence": 0.9761978986331381
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
4760.0,
|
|
2536.75
|
|
],
|
|
"projected_center_px": [
|
|
4746.126953125,
|
|
2533.837158203125
|
|
],
|
|
"reprojection_error_px": 14.175545031129111,
|
|
"confidence": 0.29819598129042574
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
4579.25,
|
|
2359.0
|
|
],
|
|
"projected_center_px": [
|
|
4581.50146484375,
|
|
2356.124755859375
|
|
],
|
|
"reprojection_error_px": 3.6518656616639946,
|
|
"confidence": 0.24559177353592807
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
2297.75,
|
|
2332.0
|
|
],
|
|
"projected_center_px": [
|
|
2290.507568359375,
|
|
2331.240966796875
|
|
],
|
|
"reprojection_error_px": 7.282097738466048,
|
|
"confidence": 0.8189370208731936
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
2793.5,
|
|
2301.75
|
|
],
|
|
"projected_center_px": [
|
|
2797.072998046875,
|
|
2305.188232421875
|
|
],
|
|
"reprojection_error_px": 4.958604363105106,
|
|
"confidence": 0.6650974735327666
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
3528.25,
|
|
2224.25
|
|
],
|
|
"projected_center_px": [
|
|
3540.236083984375,
|
|
2230.2021484375
|
|
],
|
|
"reprojection_error_px": 13.382611116763595,
|
|
"confidence": 0.3361869886273153
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
1728.75,
|
|
2152.5
|
|
],
|
|
"projected_center_px": [
|
|
1733.404052734375,
|
|
2151.74658203125
|
|
],
|
|
"reprojection_error_px": 4.71464160779786,
|
|
"confidence": 0.9592244642744492
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
2084.5,
|
|
1926.25
|
|
],
|
|
"projected_center_px": [
|
|
2098.801025390625,
|
|
1918.62890625
|
|
],
|
|
"reprojection_error_px": 16.204949773744747,
|
|
"confidence": 0.9719827733536169
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
2346.25,
|
|
1456.75
|
|
],
|
|
"projected_center_px": [
|
|
2363.700927734375,
|
|
1455.219970703125
|
|
],
|
|
"reprojection_error_px": 17.517872828619186,
|
|
"confidence": 0.9257889480776959
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
3373.5,
|
|
1801.5
|
|
],
|
|
"projected_center_px": [
|
|
3372.353271484375,
|
|
1785.6536865234375
|
|
],
|
|
"reprojection_error_px": 15.887751165159713,
|
|
"confidence": 0.8130307439140634
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
4613.5,
|
|
1257.25
|
|
],
|
|
"projected_center_px": [
|
|
4618.138671875,
|
|
1255.96923828125
|
|
],
|
|
"reprojection_error_px": 4.812237249360371,
|
|
"confidence": 0.1790072123660617
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
4766.25,
|
|
1220.5
|
|
],
|
|
"projected_center_px": [
|
|
4773.65087890625,
|
|
1217.3443603515625
|
|
],
|
|
"reprojection_error_px": 8.045562141688233,
|
|
"confidence": 0.22917053240826024
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
2153.5,
|
|
1253.75
|
|
],
|
|
"projected_center_px": [
|
|
2153.822265625,
|
|
1266.7293701171875
|
|
],
|
|
"reprojection_error_px": 12.983370277859155,
|
|
"confidence": 0.9394116345577008
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
2966.0,
|
|
842.5
|
|
],
|
|
"projected_center_px": [
|
|
2964.831298828125,
|
|
832.0728759765625
|
|
],
|
|
"reprojection_error_px": 10.492415252423507,
|
|
"confidence": 0.5938711331755648
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
1832.0,
|
|
1167.0
|
|
],
|
|
"projected_center_px": [
|
|
1823.4757080078125,
|
|
1178.65673828125
|
|
],
|
|
"reprojection_error_px": 14.441021477915998,
|
|
"confidence": 0.9190183188276039
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
2177.75,
|
|
946.5
|
|
],
|
|
"projected_center_px": [
|
|
2183.733154296875,
|
|
936.7203369140625
|
|
],
|
|
"reprojection_error_px": 11.464726137795981,
|
|
"confidence": 0.8548763242901367
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
4048.0,
|
|
860.0
|
|
],
|
|
"projected_center_px": [
|
|
4031.92578125,
|
|
871.364013671875
|
|
],
|
|
"reprojection_error_px": 19.685561083124185,
|
|
"confidence": 0.16083705506589033
|
|
},
|
|
{
|
|
"marker_id": 101,
|
|
"observed_center_px": [
|
|
4447.25,
|
|
830.25
|
|
],
|
|
"projected_center_px": [
|
|
4445.4033203125,
|
|
843.240966796875
|
|
],
|
|
"reprojection_error_px": 13.121564090676607,
|
|
"confidence": 0.20919632868756272
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
4816.0,
|
|
2116.25
|
|
],
|
|
"projected_center_px": [
|
|
4798.61181640625,
|
|
2112.72265625
|
|
],
|
|
"reprojection_error_px": 17.74235279269975,
|
|
"confidence": 0.21423515754308783
|
|
},
|
|
{
|
|
"marker_id": 81,
|
|
"observed_center_px": [
|
|
3920.25,
|
|
1078.0
|
|
],
|
|
"projected_center_px": [
|
|
3928.26953125,
|
|
1075.2220458984375
|
|
],
|
|
"reprojection_error_px": 8.487043681996369,
|
|
"confidence": 0.2600455311953469
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
4499.0,
|
|
507.0
|
|
],
|
|
"projected_center_px": [
|
|
4485.97509765625,
|
|
500.9381103515625
|
|
],
|
|
"reprojection_error_px": 14.366439613698933,
|
|
"confidence": 0.249521194599814
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
3768.5,
|
|
416.0
|
|
],
|
|
"projected_center_px": [
|
|
3777.68408203125,
|
|
418.135498046875
|
|
],
|
|
"reprojection_error_px": 9.429088750506915,
|
|
"confidence": 0.2893262789189808
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
4352.75,
|
|
256.25
|
|
],
|
|
"projected_center_px": [
|
|
4359.453125,
|
|
249.79074096679688
|
|
],
|
|
"reprojection_error_px": 9.308808303088059,
|
|
"confidence": 0.26440707295755733
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |