411 lines
9.4 KiB
JSON
411 lines
9.4 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T23:04:58Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_d_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "d",
|
|
"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": 15,
|
|
"used_marker_ids": [
|
|
95,
|
|
79,
|
|
208,
|
|
69,
|
|
51,
|
|
103,
|
|
58,
|
|
215,
|
|
214,
|
|
64,
|
|
211,
|
|
72,
|
|
84,
|
|
86,
|
|
82
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.0051024889426725395,
|
|
0.00017622050729884997,
|
|
7.544027972068694e-05,
|
|
7.543975684765693e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.21338087007534004,
|
|
"residual_median_px": 0.2171491304301779,
|
|
"residual_max_px": 0.3442031788345192,
|
|
"sigma2_normalized": 7.113946141351181e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8190759420394897,
|
|
0.5736851096153259,
|
|
-6.507481884909794e-05
|
|
],
|
|
[
|
|
0.1614817976951599,
|
|
-0.23066362738609314,
|
|
-0.9595404863357544
|
|
],
|
|
[
|
|
-0.5504891276359558,
|
|
0.7859259843826294,
|
|
-0.2815707325935364
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11481491476297379,
|
|
0.08644489198923111,
|
|
1.126613736152649
|
|
],
|
|
"rvec_rad": [
|
|
1.7907552323234444,
|
|
0.5647056274750164,
|
|
-0.4228985793605752
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.700271487236023,
|
|
-0.7996276617050171,
|
|
0.40016135573387146
|
|
],
|
|
"position_mm": [
|
|
700.271484375,
|
|
-799.627685546875,
|
|
400.1613464355469
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.71087646484375,
|
|
"pitch": 33.40057373046875,
|
|
"yaw": 11.152898788452148
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
4.757601595213363e-08,
|
|
2.3683224190724516e-08,
|
|
2.2364272874453496e-08,
|
|
2.080443633012295e-10,
|
|
-1.0208079735511171e-08,
|
|
6.32293243287619e-10
|
|
],
|
|
[
|
|
2.3683224190724453e-08,
|
|
3.236273211273143e-08,
|
|
3.0444678294527716e-09,
|
|
3.0715509193163226e-09,
|
|
-6.274192299036367e-09,
|
|
6.9102688514764024e-09
|
|
],
|
|
[
|
|
2.2364272874453414e-08,
|
|
3.044467829452832e-09,
|
|
5.629542675881826e-08,
|
|
-3.685042636921035e-09,
|
|
-9.700453598283949e-09,
|
|
-1.4994947677550227e-08
|
|
],
|
|
[
|
|
2.0804436330122354e-10,
|
|
3.071550919316312e-09,
|
|
-3.685042636921047e-09,
|
|
1.0225655382254483e-09,
|
|
1.3582825921520688e-10,
|
|
1.8654403378570815e-09
|
|
],
|
|
[
|
|
-1.0208079735511167e-08,
|
|
-6.274192299036385e-09,
|
|
-9.700453598283956e-09,
|
|
1.3582825921520365e-10,
|
|
3.680306325901021e-09,
|
|
2.88981804630673e-09
|
|
],
|
|
[
|
|
6.322932432875684e-10,
|
|
6.910268851476359e-09,
|
|
-1.4994947677550266e-08,
|
|
1.865440337857079e-09,
|
|
2.889818046306745e-09,
|
|
1.6351988142497007e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.012497313602367685,
|
|
0.010307307237266371,
|
|
0.01359437326398204
|
|
],
|
|
"tvec_std_m": [
|
|
3.1977578679841413e-05,
|
|
6.0665528316343055e-05,
|
|
0.00012787489254148762
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0002085084042056944,
|
|
0.00010437231816408737,
|
|
0.00023617817584822894
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.20850840420569441,
|
|
0.10437231816408737,
|
|
0.23617817584822895
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.018807120085426995,
|
|
"pitch": 0.010491760274297882,
|
|
"yaw": 0.014617780841034591
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
426.75,
|
|
1044.25
|
|
],
|
|
"projected_center_px": [
|
|
426.8860168457031,
|
|
1044.355712890625
|
|
],
|
|
"reprojection_error_px": 0.17226664668275438,
|
|
"confidence": 0.2725094280309524
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
838.75,
|
|
1017.25
|
|
],
|
|
"projected_center_px": [
|
|
838.7225341796875,
|
|
1017.1619262695312
|
|
],
|
|
"reprojection_error_px": 0.09225699585462643,
|
|
"confidence": 0.6090066030375576
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
998.5,
|
|
918.5
|
|
],
|
|
"projected_center_px": [
|
|
998.5924072265625,
|
|
918.706298828125
|
|
],
|
|
"reprojection_error_px": 0.22604933533793348,
|
|
"confidence": 0.5977367963770058
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
126.0,
|
|
933.25
|
|
],
|
|
"projected_center_px": [
|
|
126.21356201171875,
|
|
933.210693359375
|
|
],
|
|
"reprojection_error_px": 0.2171491304301779,
|
|
"confidence": 0.7042337796652973
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
552.0,
|
|
936.0
|
|
],
|
|
"projected_center_px": [
|
|
552.15380859375,
|
|
935.7919921875
|
|
],
|
|
"reprojection_error_px": 0.2586973783639635,
|
|
"confidence": 0.7520399118507476
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
427.5,
|
|
912.5
|
|
],
|
|
"projected_center_px": [
|
|
427.2632751464844,
|
|
912.6292724609375
|
|
],
|
|
"reprojection_error_px": 0.2697221263241701,
|
|
"confidence": 0.7542345207653582
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
294.75,
|
|
906.0
|
|
],
|
|
"projected_center_px": [
|
|
294.65985107421875,
|
|
905.73828125
|
|
],
|
|
"reprojection_error_px": 0.27680956074723256,
|
|
"confidence": 0.7093145285353147
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
803.5,
|
|
860.75
|
|
],
|
|
"projected_center_px": [
|
|
803.4752197265625,
|
|
860.8264770507812
|
|
],
|
|
"reprojection_error_px": 0.08039154960463916,
|
|
"confidence": 0.5699924622322405
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1078.75,
|
|
853.25
|
|
],
|
|
"projected_center_px": [
|
|
1078.8013916015625,
|
|
853.1370849609375
|
|
],
|
|
"reprojection_error_px": 0.12406007721118287,
|
|
"confidence": 0.4505055259062701
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
238.75,
|
|
845.75
|
|
],
|
|
"projected_center_px": [
|
|
238.63392639160156,
|
|
845.8357543945312
|
|
],
|
|
"reprojection_error_px": 0.14431527551875822,
|
|
"confidence": 0.5844856220502335
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
892.0,
|
|
802.5
|
|
],
|
|
"projected_center_px": [
|
|
891.6882934570312,
|
|
802.64599609375
|
|
],
|
|
"reprojection_error_px": 0.3442031788345192,
|
|
"confidence": 0.3920697881177011
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1405.5,
|
|
806.25
|
|
],
|
|
"projected_center_px": [
|
|
1405.40234375,
|
|
806.2735595703125
|
|
],
|
|
"reprojection_error_px": 0.1004579340688038,
|
|
"confidence": 0.018124094894962296
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1379.75,
|
|
753.75
|
|
],
|
|
"projected_center_px": [
|
|
1379.7972412109375,
|
|
753.5234985351562
|
|
],
|
|
"reprojection_error_px": 0.23137555097115572,
|
|
"confidence": 0.1168227660503348
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
1321.0,
|
|
718.5
|
|
],
|
|
"projected_center_px": [
|
|
1321.260498046875,
|
|
718.4906005859375
|
|
],
|
|
"reprojection_error_px": 0.2606675687737315,
|
|
"confidence": 0.16119480452443494
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1097.25,
|
|
667.25
|
|
],
|
|
"projected_center_px": [
|
|
1097.1739501953125,
|
|
667.4281005859375
|
|
],
|
|
"reprojection_error_px": 0.19365792393880432,
|
|
"confidence": 0.14200071347644871
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |