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

596 lines
14 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:01Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\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": [
[
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": 28,
"used_marker_ids": [
68,
62,
46,
208,
53,
54,
47,
96,
56,
97,
55,
72,
79,
84,
66,
95,
103,
73,
82,
210,
58,
69,
64,
52,
101,
81,
83,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.006755731890837703,
0.000304944250845784,
7.323845367954866e-05,
7.317477152161458e-05,
7.317474913716518e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.2069744284125745,
"residual_median_px": 0.1874770597503284,
"residual_max_px": 0.4051094550705274,
"sigma2_normalized": 5.997089180258551e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3164093792438507,
0.948622465133667,
0.0006941986503079534
],
[
0.9183136820793152,
-0.3061163127422333,
-0.25098371505737305
],
[
-0.237876296043396,
0.08005109429359436,
-0.967991054058075
]
],
"translation_m": [
0.12612494826316833,
-0.20019173622131348,
1.497531533241272
],
"rvec_rad": [
2.3749908194017593,
1.711610696443462,
-0.21744900872901518
]
},
"camera_in_world": {
"position_m": [
0.500158965587616,
-0.3008059561252594,
1.3992646932601929
],
"position_mm": [
500.1589660644531,
-300.80596923828125,
1399.2646484375
],
"orientation_deg": {
"roll": 175.27249145507812,
"pitch": 13.761231422424316,
"yaw": 70.98835754394531
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
9.29671002828522e-08,
5.520982696975476e-08,
-3.564061512067214e-10,
-9.132533585141687e-10,
3.5659197212959323e-10,
3.7215331808921906e-09
],
[
5.520982696975457e-08,
4.839814619565686e-08,
-1.197076611241349e-08,
1.5140128657801077e-09,
-1.9810468905974142e-10,
4.837976534081576e-09
],
[
-3.5640615120098366e-10,
-1.1970766112408687e-08,
4.5947711585254305e-07,
3.3820521560207062e-09,
-6.837079425711561e-09,
-8.587514215160825e-08
],
[
-9.132533585141162e-10,
1.514012865780136e-09,
3.382052156020531e-09,
9.851928404750455e-10,
-8.132572992055425e-11,
8.518179587341373e-10
],
[
3.565919721295614e-10,
-1.981046890598598e-10,
-6.837079425711668e-09,
-8.132572992056734e-11,
5.969048735738358e-10,
1.6813942289672771e-09
],
[
3.7215331808911678e-09,
4.837976534080719e-09,
-8.587514215160847e-08,
8.518179587341001e-10,
1.6813942289672356e-09,
2.712478036661316e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.01746977352889057,
0.01260483009246452,
0.038837795941657274
],
"tvec_std_m": [
3.1387781706820974e-05,
2.443163673546731e-05,
0.0001646960241372364
]
},
"camera_center_std_m": [
0.0006245488088510477,
0.0006217704040181737,
0.0002625947555261599
],
"camera_center_std_mm": [
0.6245488088510477,
0.6217704040181737,
0.2625947555261599
],
"orientation_std_deg": {
"roll": 0.026179677611457564,
"pitch": 0.023669734708667588,
"yaw": 0.005272709371422534
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
1390.25,
941.75
],
"projected_center_px": [
1390.18603515625,
941.5135498046875
],
"reprojection_error_px": 0.24494937456397253,
"confidence": 0.38560830398820567
},
{
"marker_id": 62,
"observed_center_px": [
844.5,
868.0
],
"projected_center_px": [
844.5735473632812,
868.0855102539062
],
"reprojection_error_px": 0.11278837780877737,
"confidence": 0.7633000221267091
},
{
"marker_id": 46,
"observed_center_px": [
1388.75,
884.25
],
"projected_center_px": [
1388.7379150390625,
884.0671997070312
],
"reprojection_error_px": 0.1831993269374146,
"confidence": 0.41353385692040123
},
{
"marker_id": 208,
"observed_center_px": [
935.5,
751.25
],
"projected_center_px": [
935.374755859375,
751.3952026367188
],
"reprojection_error_px": 0.19175479256324224,
"confidence": 0.7424533226417426
},
{
"marker_id": 53,
"observed_center_px": [
1395.25,
804.0
],
"projected_center_px": [
1395.369873046875,
804.1165161132812
],
"reprojection_error_px": 0.1671692316823435,
"confidence": 0.3126694345835915
},
{
"marker_id": 54,
"observed_center_px": [
608.0,
853.75
],
"projected_center_px": [
608.13916015625,
853.7831420898438
],
"reprojection_error_px": 0.1430522534136936,
"confidence": 0.7421751793130777
},
{
"marker_id": 47,
"observed_center_px": [
668.0,
836.75
],
"projected_center_px": [
668.1448974609375,
836.6394653320312
],
"reprojection_error_px": 0.1822448545476556,
"confidence": 0.7421751793130777
},
{
"marker_id": 96,
"observed_center_px": [
813.25,
826.0
],
"projected_center_px": [
813.1637573242188,
826.1403198242188
],
"reprojection_error_px": 0.16470413532965925,
"confidence": 0.7421751793130777
},
{
"marker_id": 56,
"observed_center_px": [
1346.0,
840.5
],
"projected_center_px": [
1345.7203369140625,
840.2069091796875
],
"reprojection_error_px": 0.4051094550705274,
"confidence": 0.7206062047849244
},
{
"marker_id": 97,
"observed_center_px": [
553.0,
816.0
],
"projected_center_px": [
553.0214233398438,
815.870361328125
],
"reprojection_error_px": 0.13139689773953844,
"confidence": 0.7493333333333333
},
{
"marker_id": 55,
"observed_center_px": [
674.0,
745.75
],
"projected_center_px": [
673.7264404296875,
745.6279907226562
],
"reprojection_error_px": 0.29953480977593194,
"confidence": 0.714264135428559
},
{
"marker_id": 72,
"observed_center_px": [
1347.25,
752.0
],
"projected_center_px": [
1347.3133544921875,
752.1029663085938
],
"reprojection_error_px": 0.12089603957847153,
"confidence": 0.6720101269988878
},
{
"marker_id": 79,
"observed_center_px": [
823.0,
737.75
],
"projected_center_px": [
822.9767456054688,
737.8599243164062
],
"reprojection_error_px": 0.11235711905525343,
"confidence": 0.7007874536280202
},
{
"marker_id": 84,
"observed_center_px": [
1410.75,
680.5
],
"projected_center_px": [
1410.9974365234375,
680.5765380859375
],
"reprojection_error_px": 0.2590036905717998,
"confidence": 0.09375509355389204
},
{
"marker_id": 66,
"observed_center_px": [
509.5,
692.75
],
"projected_center_px": [
509.4854431152344,
692.8970336914062
],
"reprojection_error_px": 0.14775252722924248,
"confidence": 0.6611197014534322
},
{
"marker_id": 95,
"observed_center_px": [
617.25,
624.0
],
"projected_center_px": [
617.0776977539062,
624.2393188476562
],
"reprojection_error_px": 0.29489248015584696,
"confidence": 0.6477291469727456
},
{
"marker_id": 103,
"observed_center_px": [
695.0,
487.75
],
"projected_center_px": [
695.0471801757812,
487.6961364746094
],
"reprojection_error_px": 0.07160480678178074,
"confidence": 0.6337670359070791
},
{
"marker_id": 73,
"observed_center_px": [
1404.0,
417.5
],
"projected_center_px": [
1403.9791259765625,
417.57012939453125
],
"reprojection_error_px": 0.07317005420108022,
"confidence": 0.18744910383322472
},
{
"marker_id": 82,
"observed_center_px": [
1358.25,
429.0
],
"projected_center_px": [
1358.4229736328125,
428.9125671386719
],
"reprojection_error_px": 0.19381533192288145,
"confidence": 0.6165792028347551
},
{
"marker_id": 210,
"observed_center_px": [
872.25,
304.25
],
"projected_center_px": [
872.233154296875,
304.1954650878906
],
"reprojection_error_px": 0.05707744171345533,
"confidence": 0.5950107118694543
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
432.5
],
"projected_center_px": [
633.0872802734375,
432.1778869628906
],
"reprojection_error_px": 0.3337284147434113,
"confidence": 0.6273000253365986
},
{
"marker_id": 69,
"observed_center_px": [
535.5,
406.25
],
"projected_center_px": [
535.624267578125,
406.27618408203125
],
"reprojection_error_px": 0.12699620909646164,
"confidence": 0.5831437313149622
},
{
"marker_id": 64,
"observed_center_px": [
642.0,
335.0
],
"projected_center_px": [
641.8160400390625,
334.9044494628906
],
"reprojection_error_px": 0.20729489229119125,
"confidence": 0.5891999992118755
},
{
"marker_id": 52,
"observed_center_px": [
1186.25,
315.5
],
"projected_center_px": [
1186.3646240234375,
315.6883239746094
],
"reprojection_error_px": 0.2204644782310136,
"confidence": 0.5951794442486946
},
{
"marker_id": 101,
"observed_center_px": [
1307.5,
307.5
],
"projected_center_px": [
1307.765625,
307.50732421875
],
"reprojection_error_px": 0.2657259580946089,
"confidence": 0.6113473409254715
},
{
"marker_id": 81,
"observed_center_px": [
1156.0,
375.5
],
"projected_center_px": [
1155.9227294921875,
375.6810607910156
],
"reprojection_error_px": 0.19685969983926485,
"confidence": 0.5641014640617378
},
{
"marker_id": 83,
"observed_center_px": [
1319.75,
207.0
],
"projected_center_px": [
1319.594970703125,
206.84852600097656
],
"reprojection_error_px": 0.21674513897596234,
"confidence": 0.5695343676313864
},
{
"marker_id": 61,
"observed_center_px": [
1282.5,
132.75
],
"projected_center_px": [
1282.389404296875,
132.9357452392578
],
"reprojection_error_px": 0.21617748138197732,
"confidence": 0.5346582638408491
}
]
},
"qa": {
"sanity_notes": []
}
}