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

694 lines
16 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:03Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\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": 35,
"used_marker_ids": [
86,
84,
64,
53,
72,
58,
103,
56,
69,
46,
208,
68,
95,
96,
66,
62,
55,
217,
97,
47,
54,
205,
92,
105,
102,
85,
59,
63,
57,
71,
48,
65,
87,
78,
80
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.00853177655686,
0.0005389654314531836,
8.626294153687465e-05,
8.618353845990063e-05,
8.618353716176918e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.24376193123577222,
"residual_median_px": 0.18897005808336356,
"residual_max_px": 0.5258302019636115,
"sigma2_normalized": 8.1239397724926e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7071608304977417,
-0.7070527076721191,
-6.382835272233933e-05
],
[
-0.6416193842887878,
0.6417554020881653,
-0.4200887382030487
],
[
0.2970658540725708,
-0.2970293462276459,
-0.9074830412864685
]
],
"translation_m": [
-0.0004130739835090935,
0.3318851888179779,
1.388914704322815
],
"rvec_rad": [
1.1161607844044914,
-2.694995420382036,
0.593486812813021
]
},
"camera_in_world": {
"position_m": [
-0.1999472826719284,
0.19926725327968597,
1.3998377323150635
],
"position_mm": [
-199.94728088378906,
199.2672576904297,
1399.8377685546875
],
"orientation_deg": {
"roll": -161.8761444091797,
"pitch": -17.281455993652344,
"yaw": -137.781982421875
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.8321290495266212e-08,
-3.5585403333366516e-08,
2.50155777928529e-08,
2.2763286043994673e-09,
5.989202243786625e-09,
2.3044322088281894e-08
],
[
-3.558540333336644e-08,
9.990228323830899e-08,
-7.77221671350504e-08,
-1.681687727750698e-08,
-7.653107535526547e-09,
-5.348171186060438e-08
],
[
2.5015577792853072e-08,
-7.772216713505023e-08,
2.64733464598256e-07,
2.877414936537126e-08,
-1.4493175066056277e-08,
2.4884848102759245e-09
],
[
2.276328604399455e-09,
-1.6816877277506918e-08,
2.877414936537126e-08,
5.719900255047007e-09,
-9.118175955029619e-10,
3.0290463848320082e-09
],
[
5.989202243786584e-09,
-7.653107535526537e-09,
-1.4493175066056365e-08,
-9.118175955029602e-10,
3.8035979198240324e-09,
8.366944509077101e-09
],
[
2.30443220882819e-08,
-5.3481711860604644e-08,
2.488484810276156e-09,
3.0290463848320885e-09,
8.366944509077131e-09,
5.25245320570345e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.00964226696780312,
0.018109661780259526,
0.02947997114387604
],
"tvec_std_m": [
7.563002218065923e-05,
6.167331610854108e-05,
0.00022918231183281684
]
},
"camera_center_std_m": [
0.00043652676153295775,
0.0006608936762057089,
0.0003046659237653272
],
"camera_center_std_mm": [
0.4365267615329578,
0.6608936762057089,
0.3046659237653272
],
"orientation_std_deg": {
"roll": 0.02620266194000924,
"pitch": 0.018253860167293006,
"yaw": 0.00978665245497661
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
74.0,
955.25
],
"projected_center_px": [
73.89778137207031,
955.2837524414062
],
"reprojection_error_px": 0.10764699344018033,
"confidence": 0.6483335065489111
},
{
"marker_id": 84,
"observed_center_px": [
73.5,
880.0
],
"projected_center_px": [
73.5052261352539,
879.8431396484375
],
"reprojection_error_px": 0.15694738730543817,
"confidence": 0.6193012733871159
},
{
"marker_id": 64,
"observed_center_px": [
922.0,
863.0
],
"projected_center_px": [
921.9005126953125,
862.8406982421875
],
"reprojection_error_px": 0.1878157976213286,
"confidence": 0.6753330700809153
},
{
"marker_id": 53,
"observed_center_px": [
58.75,
764.0
],
"projected_center_px": [
58.727081298828125,
764.1627197265625
],
"reprojection_error_px": 0.16432582352138228,
"confidence": 0.40543359028432663
},
{
"marker_id": 72,
"observed_center_px": [
115.0,
789.0
],
"projected_center_px": [
115.20543670654297,
788.9779663085938
],
"reprojection_error_px": 0.2066149170612028,
"confidence": 0.5889608001281618
},
{
"marker_id": 58,
"observed_center_px": [
878.75,
769.25
],
"projected_center_px": [
878.5454711914062,
769.3382568359375
],
"reprojection_error_px": 0.22275839520538304,
"confidence": 0.6025285956069217
},
{
"marker_id": 103,
"observed_center_px": [
796.5,
746.5
],
"projected_center_px": [
796.6974487304688,
746.6354370117188
],
"reprojection_error_px": 0.23943513799571253,
"confidence": 0.6446676805363658
},
{
"marker_id": 56,
"observed_center_px": [
95.25,
714.0
],
"projected_center_px": [
95.13054656982422,
714.1524658203125
],
"reprojection_error_px": 0.19368775992386247,
"confidence": 0.5338277449622252
},
{
"marker_id": 69,
"observed_center_px": [
977.5,
751.0
],
"projected_center_px": [
977.4730224609375,
750.743896484375
],
"reprojection_error_px": 0.2575204813783815,
"confidence": 0.5866976533295247
},
{
"marker_id": 46,
"observed_center_px": [
46.75,
695.0
],
"projected_center_px": [
46.67723846435547,
695.4592895507812
],
"reprojection_error_px": 0.4650173464788091,
"confidence": 0.25489120456317976
},
{
"marker_id": 208,
"observed_center_px": [
477.5,
605.25
],
"projected_center_px": [
477.4161682128906,
605.0731201171875
],
"reprojection_error_px": 0.19574029087981684,
"confidence": 0.5592585450018642
},
{
"marker_id": 68,
"observed_center_px": [
33.0,
650.75
],
"projected_center_px": [
32.94036865234375,
650.53125
],
"reprojection_error_px": 0.22673213297479594,
"confidence": 0.11177681049843842
},
{
"marker_id": 95,
"observed_center_px": [
799.25,
602.25
],
"projected_center_px": [
799.7367553710938,
602.0510864257812
],
"reprojection_error_px": 0.5258302019636115,
"confidence": 0.5169030981045668
},
{
"marker_id": 96,
"observed_center_px": [
555.5,
523.0
],
"projected_center_px": [
555.28076171875,
522.7997436523438
],
"reprojection_error_px": 0.2969310168070607,
"confidence": 0.5036491725121419
},
{
"marker_id": 66,
"observed_center_px": [
856.75,
509.0
],
"projected_center_px": [
856.4798583984375,
509.2770080566406
],
"reprojection_error_px": 0.386923698341893,
"confidence": 0.5036491725121419
},
{
"marker_id": 62,
"observed_center_px": [
514.75,
504.0
],
"projected_center_px": [
514.7005615234375,
503.8302917480469
],
"reprojection_error_px": 0.17676270462347599,
"confidence": 0.5036491725121419
},
{
"marker_id": 55,
"observed_center_px": [
700.5,
531.0
],
"projected_center_px": [
700.4702758789062,
530.8642578125
],
"reprojection_error_px": 0.13895850043117575,
"confidence": 0.5306273485801539
},
{
"marker_id": 217,
"observed_center_px": [
227.0,
362.0
],
"projected_center_px": [
227.0676727294922,
362.1270751953125
],
"reprojection_error_px": 0.14397119010632928,
"confidence": 0.42765819396972654
},
{
"marker_id": 97,
"observed_center_px": [
767.75,
437.0
],
"projected_center_px": [
768.0093383789062,
437.2726745605469
],
"reprojection_error_px": 0.37630813270929064,
"confidence": 0.4770832099303063
},
{
"marker_id": 47,
"observed_center_px": [
668.5,
463.5
],
"projected_center_px": [
668.486083984375,
463.3011779785156
],
"reprojection_error_px": 0.19930843363492806,
"confidence": 0.5046753915740128
},
{
"marker_id": 54,
"observed_center_px": [
709.25,
430.25
],
"projected_center_px": [
709.2080688476562,
430.41455078125
],
"reprojection_error_px": 0.16980924929714553,
"confidence": 0.48044802302553946
},
{
"marker_id": 205,
"observed_center_px": [
149.5,
287.0
],
"projected_center_px": [
149.67124938964844,
287.0191650390625
],
"reprojection_error_px": 0.172318461510163,
"confidence": 0.37983708259950827
},
{
"marker_id": 92,
"observed_center_px": [
327.25,
312.0
],
"projected_center_px": [
327.40032958984375,
312.114501953125
],
"reprojection_error_px": 0.18897005808336356,
"confidence": 0.4022491322386975
},
{
"marker_id": 105,
"observed_center_px": [
497.75,
340.75
],
"projected_center_px": [
497.63507080078125,
340.736572265625
],
"reprojection_error_px": 0.11571095403421701,
"confidence": 0.4159799246492322
},
{
"marker_id": 102,
"observed_center_px": [
358.75,
281.0
],
"projected_center_px": [
358.748291015625,
281.03887939453125
],
"reprojection_error_px": 0.03891693650212702,
"confidence": 0.40369943799637525
},
{
"marker_id": 85,
"observed_center_px": [
556.0,
321.25
],
"projected_center_px": [
555.6757202148438,
321.3388671875
],
"reprojection_error_px": 0.3362361611652498,
"confidence": 0.3811333266788848
},
{
"marker_id": 59,
"observed_center_px": [
427.5,
258.0
],
"projected_center_px": [
427.3998107910156,
257.8929443359375
],
"reprojection_error_px": 0.14662466642682473,
"confidence": 0.40503361354029466
},
{
"marker_id": 63,
"observed_center_px": [
273.25,
182.0
],
"projected_center_px": [
273.0743103027344,
181.9442596435547
],
"reprojection_error_px": 0.184319985519578,
"confidence": 0.3570061701664598
},
{
"marker_id": 57,
"observed_center_px": [
520.5,
214.0
],
"projected_center_px": [
520.8975830078125,
214.1934051513672
],
"reprojection_error_px": 0.4421287150554679,
"confidence": 0.3794817963241243
},
{
"marker_id": 71,
"observed_center_px": [
336.5,
168.0
],
"projected_center_px": [
336.6896667480469,
168.1143341064453
],
"reprojection_error_px": 0.2214627806456986,
"confidence": 0.33715640885841447
},
{
"marker_id": 48,
"observed_center_px": [
415.75,
184.75
],
"projected_center_px": [
415.76409912109375,
184.77362060546875
],
"reprojection_error_px": 0.027508511743214472,
"confidence": 0.37002407289138056
},
{
"marker_id": 65,
"observed_center_px": [
308.25,
123.0
],
"projected_center_px": [
308.3427734375,
122.97151947021484
],
"reprojection_error_px": 0.09704664487971533,
"confidence": 0.3320649522984733
},
{
"marker_id": 87,
"observed_center_px": [
161.0,
65.0
],
"projected_center_px": [
160.9255828857422,
64.82874298095703
],
"reprojection_error_px": 0.18672673473807677,
"confidence": 0.33383204999036237
},
{
"marker_id": 78,
"observed_center_px": [
334.75,
79.0
],
"projected_center_px": [
334.8956604003906,
79.0196304321289
],
"reprojection_error_px": 0.14697722989471798,
"confidence": 0.33383204999036237
},
{
"marker_id": 80,
"observed_center_px": [
298.0,
58.5
],
"projected_center_px": [
297.8609313964844,
58.28413772583008
],
"reprojection_error_px": 0.2567812257420636,
"confidence": 0.2761672244399736
}
]
},
"qa": {
"sanity_notes": []
}
}