607 lines
14 KiB
JSON
607 lines
14 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T23:08:41Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\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": [
|
|
[
|
|
2000.0,
|
|
0.0,
|
|
720.0
|
|
],
|
|
[
|
|
0.0,
|
|
2000.0,
|
|
540.0
|
|
],
|
|
[
|
|
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": 29,
|
|
"used_marker_ids": [
|
|
63,
|
|
48,
|
|
57,
|
|
59,
|
|
102,
|
|
92,
|
|
217,
|
|
85,
|
|
105,
|
|
206,
|
|
47,
|
|
54,
|
|
97,
|
|
96,
|
|
62,
|
|
66,
|
|
208,
|
|
55,
|
|
95,
|
|
79,
|
|
53,
|
|
72,
|
|
103,
|
|
51,
|
|
69,
|
|
86,
|
|
84,
|
|
58,
|
|
82
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.005847518735615157,
|
|
0.0003125213547230112,
|
|
0.00011282970723120655,
|
|
0.00011282664917021969
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.31912167280976533,
|
|
"residual_median_px": 0.24475113638018864,
|
|
"residual_max_px": 0.6794414540797669,
|
|
"sigma2_normalized": 1.4198681927808912e-08
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.6285482048988342,
|
|
0.7777706384658813,
|
|
-2.3787528334651142e-05
|
|
],
|
|
[
|
|
0.20614935457706451,
|
|
-0.1666271984577179,
|
|
-0.9642291069030762
|
|
],
|
|
[
|
|
-0.749953031539917,
|
|
0.6060596108436584,
|
|
-0.2650701403617859
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.0544750839471817,
|
|
-0.012378276325762272,
|
|
1.5511404275894165
|
|
],
|
|
"rvec_rad": [
|
|
1.7009244464328959,
|
|
0.8123174994967949,
|
|
-0.6191756753528251
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
1.200074553489685,
|
|
-0.8997769951820374,
|
|
0.3992242217063904
|
|
],
|
|
"position_mm": [
|
|
1200.0745849609375,
|
|
-899.7769775390625,
|
|
399.2242126464844
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 113.6229476928711,
|
|
"pitch": 48.5863037109375,
|
|
"yaw": 18.15829849243164
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.5646943565187624e-08,
|
|
-7.289966690700542e-10,
|
|
1.2946325826822244e-09,
|
|
-1.5949154247464382e-09,
|
|
-6.923055232787968e-09,
|
|
6.3407414122330556e-09
|
|
],
|
|
[
|
|
-7.289966690700519e-10,
|
|
1.5738928047974526e-08,
|
|
3.6527821280217914e-09,
|
|
4.391417461921019e-09,
|
|
-4.175192606686297e-09,
|
|
1.4246272963290236e-09
|
|
],
|
|
[
|
|
1.294632582681915e-09,
|
|
3.6527821280217513e-09,
|
|
3.349241013572058e-08,
|
|
-5.302840795723905e-09,
|
|
-4.932008841004824e-09,
|
|
3.484729562995802e-09
|
|
],
|
|
[
|
|
-1.5949154247464012e-09,
|
|
4.391417461921013e-09,
|
|
-5.3028407957239e-09,
|
|
3.26627318437936e-09,
|
|
1.5299512101917842e-10,
|
|
1.3389032968752705e-09
|
|
],
|
|
[
|
|
-6.92305523278794e-09,
|
|
-4.175192606686287e-09,
|
|
-4.932008841004933e-09,
|
|
1.5299512101918838e-10,
|
|
4.469845353304908e-09,
|
|
3.7609881558937334e-10
|
|
],
|
|
[
|
|
6.340741412233021e-09,
|
|
1.4246272963290397e-09,
|
|
3.4847295629958128e-09,
|
|
1.3389032968752529e-09,
|
|
3.7609881558937867e-10,
|
|
2.2720224780839942e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.009175726085394593,
|
|
0.007188035401851379,
|
|
0.010485661479884863
|
|
],
|
|
"tvec_std_m": [
|
|
5.715131830832391e-05,
|
|
6.685690206182835e-05,
|
|
0.00015073229508250692
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.00012845848914522164,
|
|
0.0001573046356033555,
|
|
0.0001976760964094669
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.12845848914522165,
|
|
0.1573046356033555,
|
|
0.1976760964094669
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.012573016258828468,
|
|
"pitch": 0.006619578367109159,
|
|
"yaw": 0.0112783872517285
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1321.75,
|
|
1053.25
|
|
],
|
|
"projected_center_px": [
|
|
1321.96044921875,
|
|
1053.203125
|
|
],
|
|
"reprojection_error_px": 0.21560644539875276,
|
|
"confidence": 0.1017056918239888
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
1024.75,
|
|
1034.0
|
|
],
|
|
"projected_center_px": [
|
|
1024.31005859375,
|
|
1034.052734375
|
|
],
|
|
"reprojection_error_px": 0.443090685119726,
|
|
"confidence": 0.4651021572020284
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
813.0,
|
|
989.25
|
|
],
|
|
"projected_center_px": [
|
|
813.2783203125,
|
|
989.140869140625
|
|
],
|
|
"reprojection_error_px": 0.29895106759806644,
|
|
"confidence": 0.7877495145220144
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
986.0,
|
|
952.0
|
|
],
|
|
"projected_center_px": [
|
|
985.9794311523438,
|
|
952.009765625
|
|
],
|
|
"reprojection_error_px": 0.022769385708592275,
|
|
"confidence": 0.7322350971120686
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1105.5,
|
|
935.25
|
|
],
|
|
"projected_center_px": [
|
|
1105.5693359375,
|
|
935.38134765625
|
|
],
|
|
"reprojection_error_px": 0.14852501146733527,
|
|
"confidence": 0.6662611255220068
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1150.5,
|
|
909.25
|
|
],
|
|
"projected_center_px": [
|
|
1150.583984375,
|
|
909.2827758789062
|
|
],
|
|
"reprojection_error_px": 0.09015338863413726,
|
|
"confidence": 0.5732951023176659
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
1282.75,
|
|
810.0
|
|
],
|
|
"projected_center_px": [
|
|
1283.0703125,
|
|
810.2076416015625
|
|
],
|
|
"reprojection_error_px": 0.3817265151331382,
|
|
"confidence": 0.4285406831584614
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
759.25,
|
|
883.5
|
|
],
|
|
"projected_center_px": [
|
|
759.2372436523438,
|
|
883.443359375
|
|
],
|
|
"reprojection_error_px": 0.05805932143866082,
|
|
"confidence": 0.5006042888224075
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
856.0,
|
|
871.75
|
|
],
|
|
"projected_center_px": [
|
|
856.1986694335938,
|
|
871.8790893554688
|
|
],
|
|
"reprojection_error_px": 0.23692531637585448,
|
|
"confidence": 0.5297556344596553
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1375.0,
|
|
772.75
|
|
],
|
|
"projected_center_px": [
|
|
1374.9285888671875,
|
|
772.609375
|
|
],
|
|
"reprojection_error_px": 0.157717914374254,
|
|
"confidence": 0.21565926026494167
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
612.25,
|
|
775.75
|
|
],
|
|
"projected_center_px": [
|
|
611.7559814453125,
|
|
775.5015258789062
|
|
],
|
|
"reprojection_error_px": 0.5529861853869751,
|
|
"confidence": 0.313223496035565
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
544.75,
|
|
793.5
|
|
],
|
|
"projected_center_px": [
|
|
544.8224487304688,
|
|
793.4913330078125
|
|
],
|
|
"reprojection_error_px": 0.07296530202851058,
|
|
"confidence": 0.32604528713786163
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
463.25,
|
|
785.75
|
|
],
|
|
"projected_center_px": [
|
|
462.9898376464844,
|
|
785.6824951171875
|
|
],
|
|
"reprojection_error_px": 0.26877752768845536,
|
|
"confidence": 0.27616132626441153
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
776.5,
|
|
747.75
|
|
],
|
|
"projected_center_px": [
|
|
776.3291015625,
|
|
747.6077270507812
|
|
],
|
|
"reprojection_error_px": 0.22236876583581253,
|
|
"confidence": 0.31584848462039483
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
830.75,
|
|
760.5
|
|
],
|
|
"projected_center_px": [
|
|
830.9230346679688,
|
|
760.326904296875
|
|
],
|
|
"reprojection_error_px": 0.24475113638018864,
|
|
"confidence": 0.3575017044994602
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
372.75,
|
|
739.25
|
|
],
|
|
"projected_center_px": [
|
|
372.57012939453125,
|
|
739.3487548828125
|
|
],
|
|
"reprojection_error_px": 0.20519737228094645,
|
|
"confidence": 0.20623321647154885
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
875.25,
|
|
660.75
|
|
],
|
|
"projected_center_px": [
|
|
874.8054809570312,
|
|
660.7119140625
|
|
],
|
|
"reprojection_error_px": 0.4461476417029539,
|
|
"confidence": 0.25451422792961226
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
584.5,
|
|
735.75
|
|
],
|
|
"projected_center_px": [
|
|
584.5219116210938,
|
|
735.8544311523438
|
|
],
|
|
"reprojection_error_px": 0.10670512976797128,
|
|
"confidence": 0.2715772845109344
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
479.5,
|
|
696.25
|
|
],
|
|
"projected_center_px": [
|
|
479.4051513671875,
|
|
696.3991088867188
|
|
],
|
|
"reprojection_error_px": 0.1767193346663162,
|
|
"confidence": 0.1867925968462939
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
749.5,
|
|
711.0
|
|
],
|
|
"projected_center_px": [
|
|
749.4364013671875,
|
|
710.7820434570312
|
|
],
|
|
"reprojection_error_px": 0.2270459000257608,
|
|
"confidence": 0.25694325940045776
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1349.5,
|
|
659.0
|
|
],
|
|
"projected_center_px": [
|
|
1349.5362548828125,
|
|
659.2131958007812
|
|
],
|
|
"reprojection_error_px": 0.2162564819803248,
|
|
"confidence": 0.21339006924105708
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1275.5,
|
|
647.5
|
|
],
|
|
"projected_center_px": [
|
|
1275.7286376953125,
|
|
647.7369384765625
|
|
],
|
|
"reprojection_error_px": 0.32926438828632826,
|
|
"confidence": 0.19184247964326936
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
523.5,
|
|
638.75
|
|
],
|
|
"projected_center_px": [
|
|
523.6732788085938,
|
|
638.1660766601562
|
|
],
|
|
"reprojection_error_px": 0.609091136302236,
|
|
"confidence": 0.22616359129114708
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
595.0,
|
|
656.0
|
|
],
|
|
"projected_center_px": [
|
|
595.2596435546875,
|
|
656.2591552734375
|
|
],
|
|
"reprojection_error_px": 0.36684633191736593,
|
|
"confidence": 0.19459516753849398
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
331.0,
|
|
630.0
|
|
],
|
|
"projected_center_px": [
|
|
331.63311767578125,
|
|
630.24658203125
|
|
],
|
|
"reprojection_error_px": 0.6794414540797669,
|
|
"confidence": 0.12893578900789202
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
1268.0,
|
|
594.75
|
|
],
|
|
"projected_center_px": [
|
|
1267.7525634765625,
|
|
594.8084716796875
|
|
],
|
|
"reprojection_error_px": 0.2542513922406603,
|
|
"confidence": 0.15168122070263937
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1291.75,
|
|
618.0
|
|
],
|
|
"projected_center_px": [
|
|
1291.37109375,
|
|
617.8903198242188
|
|
],
|
|
"reprojection_error_px": 0.39446126203781834,
|
|
"confidence": 0.1582275341749426
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
442.5,
|
|
627.0
|
|
],
|
|
"projected_center_px": [
|
|
442.55987548828125,
|
|
627.3011474609375
|
|
],
|
|
"reprojection_error_px": 0.30704212630520455,
|
|
"confidence": 0.14001813177550704
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1119.5,
|
|
552.5
|
|
],
|
|
"projected_center_px": [
|
|
1119.5302734375,
|
|
552.192626953125
|
|
],
|
|
"reprojection_error_px": 0.3088602774124367,
|
|
"confidence": 0.12288264165739471
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |