Files
appRobotRender/data/evaluations/Scene11/render_e_camera_pose.json

663 lines
15 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:04:59Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\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": [
[
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": 33,
"used_marker_ids": [
63,
48,
57,
102,
59,
92,
217,
85,
105,
206,
47,
54,
97,
96,
62,
66,
208,
55,
79,
95,
103,
214,
53,
215,
51,
58,
72,
211,
60,
69,
84,
86,
82
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.006422738645332243,
0.0003871161998935931,
0.00012868318174508002,
0.00012867981800261292
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.3639634561784025,
"residual_median_px": 0.29773158173963726,
"residual_max_px": 0.7854093670295016,
"sigma2_normalized": 1.8214345117243e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.6286893486976624,
0.7776565551757812,
-1.0693412150430959e-05
],
[
0.2062961459159851,
-0.16679149866104126,
-0.9641693234443665
],
[
-0.7497943639755249,
0.6061608195304871,
-0.2652875781059265
]
],
"translation_m": [
-0.05454832315444946,
-0.01248213555663824,
1.5512332916259766
],
"rvec_rad": [
1.7011799061048978,
0.8122603598080703,
-0.6189697289902427
]
},
"camera_in_world": {
"position_m": [
1.1999748945236206,
-0.8999589085578918,
0.3994874358177185
],
"position_mm": [
1199.974853515625,
-899.9589233398438,
399.4874267578125
],
"orientation_deg": {
"roll": 113.63668823242188,
"pitch": 48.572566986083984,
"yaw": 18.166568756103516
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.756132300830011e-08,
-7.733613438582077e-11,
1.7758449824369922e-09,
-1.337111882012207e-09,
-7.064822160956516e-09,
7.849364125026945e-09
],
[
-7.733613438578113e-11,
1.88219865575048e-08,
5.53404170581455e-09,
4.810502846886823e-09,
-5.212274458788402e-09,
2.5586424005974698e-09
],
[
1.7758449824371462e-09,
5.5340417058146605e-09,
3.889133728048619e-08,
-5.544728741396214e-09,
-6.3615783030593e-09,
2.7798662388174374e-09
],
[
-1.3371118820122641e-09,
4.8105028468867324e-09,
-5.54472874139623e-09,
3.484007320776933e-09,
1.0616408006251676e-10,
2.2716191816981473e-09
],
[
-7.064822160956552e-09,
-5.21227445878841e-09,
-6.361578303059228e-09,
1.0616408006246298e-10,
4.900368720804411e-09,
2.851443815424196e-10
],
[
7.849364125026922e-09,
2.5586424005974876e-09,
2.7798662388173865e-09,
2.271619181698089e-09,
2.851443815424221e-10,
2.753832901093455e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.009512017987071533,
0.007860593933718523,
0.011299235769946061
],
"tvec_std_m": [
5.902548026722809e-05,
7.000263367048708e-05,
0.00016594676559347142
]
},
"camera_center_std_m": [
0.00013566376799162768,
0.00017318272887093068,
0.000211999399195551
],
"camera_center_std_mm": [
0.1356637679916277,
0.17318272887093067,
0.211999399195551
],
"orientation_std_deg": {
"roll": 0.013530081390138143,
"pitch": 0.008910319308511147,
"yaw": 0.012158982508124083
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1321.75,
1053.25
],
"projected_center_px": [
1321.968505859375,
1053.1949462890625
],
"reprojection_error_px": 0.2253346881179129,
"confidence": 0.1017056918239888
},
{
"marker_id": 48,
"observed_center_px": [
1024.75,
1034.0
],
"projected_center_px": [
1024.388916015625,
1034.0643310546875
],
"reprojection_error_px": 0.366769857498311,
"confidence": 0.4651021572020284
},
{
"marker_id": 57,
"observed_center_px": [
813.5,
989.25
],
"projected_center_px": [
813.3814086914062,
989.1576538085938
],
"reprojection_error_px": 0.1503054142112579,
"confidence": 0.7639533626902504
},
{
"marker_id": 102,
"observed_center_px": [
1105.5,
935.25
],
"projected_center_px": [
1105.58837890625,
935.3623046875
],
"reprojection_error_px": 0.14290967043702446,
"confidence": 0.6662611255220068
},
{
"marker_id": 59,
"observed_center_px": [
985.75,
951.75
],
"projected_center_px": [
986.031494140625,
952.0037841796875
],
"reprojection_error_px": 0.3790057533413768,
"confidence": 0.7319206487505432
},
{
"marker_id": 92,
"observed_center_px": [
1150.75,
909.25
],
"projected_center_px": [
1150.5823974609375,
909.2534790039062
],
"reprojection_error_px": 0.16763864282550292,
"confidence": 0.5742052273811341
},
{
"marker_id": 217,
"observed_center_px": [
1282.75,
810.0
],
"projected_center_px": [
1283.0230712890625,
810.1702270507812
],
"reprojection_error_px": 0.321784365263351,
"confidence": 0.4285406831584614
},
{
"marker_id": 85,
"observed_center_px": [
759.25,
883.5
],
"projected_center_px": [
759.298583984375,
883.4326782226562
],
"reprojection_error_px": 0.08302183593773203,
"confidence": 0.5006042888224075
},
{
"marker_id": 105,
"observed_center_px": [
856.0,
871.75
],
"projected_center_px": [
856.2390747070312,
871.8583374023438
],
"reprojection_error_px": 0.262476109938923,
"confidence": 0.5297556344596553
},
{
"marker_id": 206,
"observed_center_px": [
1375.0,
772.75
],
"projected_center_px": [
1374.844970703125,
772.5537109375
],
"reprojection_error_px": 0.2501269256731186,
"confidence": 0.21565926026494167
},
{
"marker_id": 47,
"observed_center_px": [
611.75,
775.5
],
"projected_center_px": [
611.7815551757812,
775.4615478515625
],
"reprojection_error_px": 0.049742304309763535,
"confidence": 0.28296118775935797
},
{
"marker_id": 54,
"observed_center_px": [
544.75,
793.5
],
"projected_center_px": [
544.864013671875,
793.4620971679688
],
"reprojection_error_px": 0.12014883291322191,
"confidence": 0.32604528713786163
},
{
"marker_id": 97,
"observed_center_px": [
463.25,
785.75
],
"projected_center_px": [
463.0340576171875,
785.6549682617188
],
"reprojection_error_px": 0.23592826023072413,
"confidence": 0.27616132626441153
},
{
"marker_id": 96,
"observed_center_px": [
776.0,
747.5
],
"projected_center_px": [
776.3222045898438,
747.5478515625
],
"reprojection_error_px": 0.32573849902962126,
"confidence": 0.31220857772929933
},
{
"marker_id": 62,
"observed_center_px": [
830.75,
760.5
],
"projected_center_px": [
830.9151000976562,
760.2689208984375
],
"reprojection_error_px": 0.28399928419810405,
"confidence": 0.3575017044994602
},
{
"marker_id": 66,
"observed_center_px": [
372.75,
739.25
],
"projected_center_px": [
372.59381103515625,
739.3072509765625
],
"reprojection_error_px": 0.16635103563345224,
"confidence": 0.20623321647154885
},
{
"marker_id": 208,
"observed_center_px": [
875.25,
660.75
],
"projected_center_px": [
874.7659912109375,
660.6372680664062
],
"reprojection_error_px": 0.49696377809809567,
"confidence": 0.25451422792961226
},
{
"marker_id": 55,
"observed_center_px": [
584.75,
736.0
],
"projected_center_px": [
584.5292358398438,
735.8002319335938
],
"reprojection_error_px": 0.29773158173963726,
"confidence": 0.2684612168157516
},
{
"marker_id": 79,
"observed_center_px": [
749.5,
711.0
],
"projected_center_px": [
749.4147338867188,
710.7091064453125
],
"reprojection_error_px": 0.3031325951342424,
"confidence": 0.25694325940045776
},
{
"marker_id": 95,
"observed_center_px": [
479.5,
696.25
],
"projected_center_px": [
479.3988037109375,
696.3336181640625
],
"reprojection_error_px": 0.1312733266174215,
"confidence": 0.1867925968462939
},
{
"marker_id": 103,
"observed_center_px": [
523.25,
638.0
],
"projected_center_px": [
523.6326293945312,
638.072509765625
],
"reprojection_error_px": 0.3894392374560419,
"confidence": 0.14764046114843485
},
{
"marker_id": 214,
"observed_center_px": [
965.25,
635.0
],
"projected_center_px": [
965.9200439453125,
635.270751953125
],
"reprojection_error_px": 0.7226793955627507,
"confidence": 0.26145573023918267
},
{
"marker_id": 53,
"observed_center_px": [
1349.5,
659.0
],
"projected_center_px": [
1349.3980712890625,
659.0911254882812
],
"reprojection_error_px": 0.13672350466498678,
"confidence": 0.21339006924105708
},
{
"marker_id": 215,
"observed_center_px": [
770.25,
622.25
],
"projected_center_px": [
769.8566284179688,
622.2119140625
],
"reprojection_error_px": 0.3952110071658207,
"confidence": 0.20251239054950188
},
{
"marker_id": 51,
"observed_center_px": [
595.5,
656.5
],
"projected_center_px": [
595.2241821289062,
656.1705322265625
],
"reprojection_error_px": 0.42967954541559494,
"confidence": 0.2173770408112933
},
{
"marker_id": 58,
"observed_center_px": [
442.5,
627.0
],
"projected_center_px": [
442.5168151855469,
627.2061157226562
],
"reprojection_error_px": 0.20680048740533472,
"confidence": 0.14001813177550704
},
{
"marker_id": 72,
"observed_center_px": [
1275.25,
647.5
],
"projected_center_px": [
1275.6009521484375,
647.6138305664062
],
"reprojection_error_px": 0.3689509565528523,
"confidence": 0.1941600279477843
},
{
"marker_id": 211,
"observed_center_px": [
860.5,
599.5
],
"projected_center_px": [
859.7236328125,
599.6188354492188
],
"reprojection_error_px": 0.7854093670295016,
"confidence": 0.1697686881392548
},
{
"marker_id": 60,
"observed_center_px": [
1345.75,
620.0
],
"projected_center_px": [
1345.3231201171875,
619.8807373046875
],
"reprojection_error_px": 0.44322683226900417,
"confidence": 0.1582275341749426
},
{
"marker_id": 69,
"observed_center_px": [
331.0,
630.0
],
"projected_center_px": [
331.5946960449219,
630.15771484375
],
"reprojection_error_px": 0.6152538970090378,
"confidence": 0.12893578900789202
},
{
"marker_id": 84,
"observed_center_px": [
1291.5,
618.0
],
"projected_center_px": [
1291.2296142578125,
617.7548217773438
],
"reprojection_error_px": 0.36499426083592457,
"confidence": 0.15774950537078866
},
{
"marker_id": 86,
"observed_center_px": [
1267.75,
594.5
],
"projected_center_px": [
1267.6068115234375,
594.66455078125
],
"reprojection_error_px": 0.21812817202341142,
"confidence": 0.16411854004724083
},
{
"marker_id": 82,
"observed_center_px": [
1118.75,
552.0
],
"projected_center_px": [
1119.3914794921875,
552.0361938476562
],
"reprojection_error_px": 0.6424997537005728,
"confidence": 0.1343704007977513
}
]
},
"qa": {
"sanity_notes": []
}
}