Files
appRobotRender/data/evaluations/Scene12/render_e_camera_pose.json

649 lines
15 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:31Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\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": 32,
"used_marker_ids": [
63,
48,
57,
59,
102,
92,
217,
85,
105,
206,
47,
54,
97,
66,
96,
62,
208,
55,
79,
95,
103,
214,
53,
72,
215,
51,
211,
60,
69,
58,
86,
82
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.005533814140359487,
0.0002931784752488266,
0.00011341061930010878,
0.00011340836045650484
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.3207702966072531,
"residual_median_px": 0.270456465845166,
"residual_max_px": 0.6494079876378961,
"sigma2_normalized": 1.4191951692535031e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.628866970539093,
0.7775129079818726,
0.0001530717418063432
],
[
0.2064560055732727,
-0.16679565608501434,
-0.9641343951225281
],
[
-0.749601423740387,
0.6063438653945923,
-0.2654144763946533
]
],
"translation_m": [
-0.05465828999876976,
-0.012549780309200287,
1.5511655807495117
],
"rvec_rad": [
1.7012996296438765,
0.8122092784967998,
-0.6186261391953282
]
},
"camera_in_world": {
"position_m": [
1.199719786643982,
-0.9001354575157166,
0.3996104896068573
],
"position_mm": [
1199.7197265625,
-900.1354370117188,
399.6105041503906
],
"orientation_deg": {
"roll": 113.6404037475586,
"pitch": 48.55585861206055,
"yaw": 18.174924850463867
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.3809641772667717e-08,
-7.295716933678232e-10,
9.676582791611571e-10,
-1.3223756431736614e-09,
-6.050514988591592e-09,
6.5539029534822575e-09
],
[
-7.29571693367761e-10,
1.4970073913133646e-08,
3.961888060719378e-09,
3.9608988343387395e-09,
-3.925396845530066e-09,
1.5812901525004196e-09
],
[
9.676582791611786e-10,
3.961888060719399e-09,
3.23096468699172e-08,
-4.811246122790142e-09,
-4.773290361043513e-09,
3.2592147111876027e-09
],
[
-1.3223756431736744e-09,
3.960898834338709e-09,
-4.81124612279013e-09,
2.900475828065931e-09,
1.2366248205627614e-10,
1.386495190928588e-09
],
[
-6.050514988591616e-09,
-3.925396845530055e-09,
-4.773290361043507e-09,
1.2366248205626044e-10,
3.949963279543689e-09,
1.7317281373812092e-10
],
[
6.553902953482238e-09,
1.581290152500422e-09,
3.2592147111876e-09,
1.3864951909285539e-09,
1.731728137381249e-10,
2.2248152827823534e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.008840952618514504,
0.0070102677339870766,
0.01029885012567914
],
"tvec_std_m": [
5.3856065842817846e-05,
6.284873331693877e-05,
0.00014915814703804663
]
},
"camera_center_std_m": [
0.00014217963132221823,
0.00015727573579307113,
0.00019034172299572867
],
"camera_center_std_mm": [
0.14217963132221823,
0.15727573579307114,
0.19034172299572868
],
"orientation_std_deg": {
"roll": 0.011710708170264462,
"pitch": 0.006838599236581732,
"yaw": 0.010550200024173081
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1321.75,
1053.5
],
"projected_center_px": [
1322.0760498046875,
1053.304931640625
],
"reprojection_error_px": 0.3799475489669739,
"confidence": 0.10255192012368959
},
{
"marker_id": 48,
"observed_center_px": [
1024.75,
1034.25
],
"projected_center_px": [
1024.5126953125,
1034.15966796875
],
"reprojection_error_px": 0.2539161093338184,
"confidence": 0.46991091003074825
},
{
"marker_id": 57,
"observed_center_px": [
813.75,
989.0
],
"projected_center_px": [
813.484375,
989.2312622070312
],
"reprojection_error_px": 0.3521914948234337,
"confidence": 0.774347714351216
},
{
"marker_id": 59,
"observed_center_px": [
986.0,
952.0
],
"projected_center_px": [
986.1099853515625,
952.0723876953125
],
"reprojection_error_px": 0.13166911555479538,
"confidence": 0.7322350971120686
},
{
"marker_id": 102,
"observed_center_px": [
1105.5,
935.25
],
"projected_center_px": [
1105.6505126953125,
935.4310913085938
],
"reprojection_error_px": 0.23547427353838518,
"confidence": 0.6662611255220068
},
{
"marker_id": 92,
"observed_center_px": [
1150.75,
909.25
],
"projected_center_px": [
1150.6259765625,
909.3167114257812
],
"reprojection_error_px": 0.14082694124024578,
"confidence": 0.5742052273811341
},
{
"marker_id": 217,
"observed_center_px": [
1282.75,
810.0
],
"projected_center_px": [
1283.03662109375,
810.23193359375
],
"reprojection_error_px": 0.36870698839625526,
"confidence": 0.4285406831584614
},
{
"marker_id": 85,
"observed_center_px": [
759.25,
883.5
],
"projected_center_px": [
759.3401489257812,
883.4680786132812
],
"reprojection_error_px": 0.09563369568076573,
"confidence": 0.5006042888224075
},
{
"marker_id": 105,
"observed_center_px": [
856.0,
871.75
],
"projected_center_px": [
856.2745971679688,
871.8949584960938
],
"reprojection_error_px": 0.3105101773633509,
"confidence": 0.5297556344596553
},
{
"marker_id": 206,
"observed_center_px": [
1375.0,
772.75
],
"projected_center_px": [
1374.8236083984375,
772.6101684570312
],
"reprojection_error_px": 0.22509299747172307,
"confidence": 0.21565926026494167
},
{
"marker_id": 47,
"observed_center_px": [
611.5,
775.5
],
"projected_center_px": [
611.7551879882812,
775.4501342773438
],
"reprojection_error_px": 0.26001442202128217,
"confidence": 0.3148186874091085
},
{
"marker_id": 54,
"observed_center_px": [
544.75,
793.5
],
"projected_center_px": [
544.843505859375,
793.4529418945312
],
"reprojection_error_px": 0.10467956356311997,
"confidence": 0.32604528713786163
},
{
"marker_id": 97,
"observed_center_px": [
463.25,
785.75
],
"projected_center_px": [
463.0019226074219,
785.6375732421875
],
"reprojection_error_px": 0.2723640368708609,
"confidence": 0.27616132626441153
},
{
"marker_id": 66,
"observed_center_px": [
372.5,
739.0
],
"projected_center_px": [
372.52490234375,
739.2656860351562
],
"reprojection_error_px": 0.26685051246211106,
"confidence": 0.20880323274886187
},
{
"marker_id": 96,
"observed_center_px": [
776.5,
747.75
],
"projected_center_px": [
776.285888671875,
747.5377807617188
],
"reprojection_error_px": 0.3014642033942428,
"confidence": 0.31584848462039483
},
{
"marker_id": 62,
"observed_center_px": [
830.75,
760.5
],
"projected_center_px": [
830.8865356445312,
760.2669067382812
],
"reprojection_error_px": 0.27013783682825615,
"confidence": 0.3575017044994602
},
{
"marker_id": 208,
"observed_center_px": [
875.25,
660.75
],
"projected_center_px": [
874.711669921875,
660.6205444335938
],
"reprojection_error_px": 0.5536768161009016,
"confidence": 0.25451422792961226
},
{
"marker_id": 55,
"observed_center_px": [
584.75,
736.0
],
"projected_center_px": [
584.478271484375,
735.7723999023438
],
"reprojection_error_px": 0.35445477942454157,
"confidence": 0.2684612168157516
},
{
"marker_id": 79,
"observed_center_px": [
749.5,
711.0
],
"projected_center_px": [
749.356689453125,
710.6843872070312
],
"reprojection_error_px": 0.34662565965483083,
"confidence": 0.25694325940045776
},
{
"marker_id": 95,
"observed_center_px": [
479.5,
696.25
],
"projected_center_px": [
479.3166198730469,
696.2832641601562
],
"reprojection_error_px": 0.1863726785562865,
"confidence": 0.1867925968462939
},
{
"marker_id": 103,
"observed_center_px": [
523.25,
638.0
],
"projected_center_px": [
523.520751953125,
638.0035400390625
],
"reprojection_error_px": 0.27077509486207596,
"confidence": 0.14764046114843485
},
{
"marker_id": 214,
"observed_center_px": [
965.25,
635.0
],
"projected_center_px": [
965.8482055664062,
635.2527465820312
],
"reprojection_error_px": 0.6494079876378961,
"confidence": 0.26145573023918267
},
{
"marker_id": 53,
"observed_center_px": [
1349.5,
659.0
],
"projected_center_px": [
1349.2769775390625,
659.0974731445312
],
"reprojection_error_px": 0.24339275253677678,
"confidence": 0.21339006924105708
},
{
"marker_id": 72,
"observed_center_px": [
1275.5,
647.5
],
"projected_center_px": [
1275.482421875,
647.6109619140625
],
"reprojection_error_px": 0.11234561340314654,
"confidence": 0.19184247964326936
},
{
"marker_id": 215,
"observed_center_px": [
770.25,
622.25
],
"projected_center_px": [
769.7776489257812,
622.1724853515625
],
"reprojection_error_px": 0.47866904854815534,
"confidence": 0.14268186854556272
},
{
"marker_id": 51,
"observed_center_px": [
595.0,
656.0
],
"projected_center_px": [
595.1279907226562,
656.1142578125
],
"reprojection_error_px": 0.1715706058838584,
"confidence": 0.19459516753849398
},
{
"marker_id": 211,
"observed_center_px": [
860.0,
599.75
],
"projected_center_px": [
859.6314086914062,
599.5791015625
],
"reprojection_error_px": 0.40628294169309453,
"confidence": 0.1506768697944017
},
{
"marker_id": 60,
"observed_center_px": [
1345.25,
620.0
],
"projected_center_px": [
1345.18017578125,
619.8761596679688
],
"reprojection_error_px": 0.1421683838328976,
"confidence": 0.14246549607185086
},
{
"marker_id": 69,
"observed_center_px": [
331.0,
630.0
],
"projected_center_px": [
331.4573974609375,
630.0693969726562
],
"reprojection_error_px": 0.462632010442343,
"confidence": 0.12893578900789202
},
{
"marker_id": 58,
"observed_center_px": [
442.25,
627.0
],
"projected_center_px": [
442.39105224609375,
627.1260986328125
],
"reprojection_error_px": 0.1891998977940356,
"confidence": 0.1295478737351265
},
{
"marker_id": 86,
"observed_center_px": [
1267.75,
594.5
],
"projected_center_px": [
1267.458984375,
594.646240234375
],
"reprojection_error_px": 0.32569356785818715,
"confidence": 0.16411854004724083
},
{
"marker_id": 82,
"observed_center_px": [
1118.75,
552.0
],
"projected_center_px": [
1119.2330322265625,
551.9917602539062
],
"reprojection_error_px": 0.483102499800628,
"confidence": 0.1343704007977513
}
]
},
"qa": {
"sanity_notes": []
}
}