Files
appRobotRender/data/evaluations/Scene6/render_d_camera_pose.json

369 lines
8.5 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T20:35:47Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\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": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1777.77783203125,
360.0
],
[
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": 12,
"used_marker_ids": [
208,
103,
58,
215,
214,
64,
211,
72,
210,
84,
86,
82
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.007119340264402724,
0.00030920270496480193,
0.00010110639735161258,
0.0001011028748367772
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.25419532267692485,
"residual_median_px": 0.17496989726819528,
"residual_max_px": 0.48114938133075696,
"sigma2_normalized": 1.3629055062391299e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8192222714424133,
0.5734761357307434,
3.4011838579317555e-05
],
[
0.16137510538101196,
-0.2304706871509552,
-0.959604799747467
],
[
-0.5503026247024536,
0.7861350774765015,
-0.2813514769077301
]
],
"translation_m": [
-0.1149894967675209,
0.08632654696702957,
1.1260489225387573
],
"rvec_rad": [
1.7905618458450094,
0.5644665475681335,
-0.4226817589406491
]
},
"camera_in_world": {
"position_m": [
0.6999386548995972,
-0.7993870973587036,
0.39965879917144775
],
"position_mm": [
699.9386596679688,
-799.3870849609375,
399.6588134765625
],
"orientation_deg": {
"roll": 109.69187927246094,
"pitch": 33.38777542114258,
"yaw": 11.143774032592773
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.1160435245769006e-07,
4.5734099051121594e-08,
4.4617521593083773e-08,
4.331888664773765e-10,
-1.753311055489037e-08,
1.2330440139836255e-09
],
[
4.573409905112177e-08,
7.343893283018167e-08,
-6.965254164533588e-09,
6.112174206020122e-09,
-1.1082943083338634e-08,
1.8516287490834534e-08
],
[
4.461752159308314e-08,
-6.965254164534285e-09,
1.292279012534752e-07,
-6.99068227432899e-09,
-1.8226378746009113e-08,
-3.5773238162244425e-08
],
[
4.331888664774405e-10,
6.1121742060201805e-09,
-6.990682274328966e-09,
2.08236053197196e-09,
3.344172880542264e-10,
4.9180150654815285e-09
],
[
-1.7533110554890315e-08,
-1.108294308333852e-08,
-1.8226378746009232e-08,
3.3441728805424036e-10,
6.463349240767219e-09,
6.2963681505623055e-09
],
[
1.2330440139838185e-09,
1.851628749083471e-08,
-3.5773238162244266e-08,
4.918015065481511e-09,
6.29636815056225e-09,
4.2376895162446605e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.01914093720111567,
0.01552693772232652,
0.020596848662686216
],
"tvec_std_m": [
4.563288870948189e-05,
8.039495780686261e-05,
0.00020585649166943122
]
},
"camera_center_std_m": [
0.00031363585711186715,
0.00019020062817450608,
0.00035746602432478873
],
"camera_center_std_mm": [
0.31363585711186714,
0.1902006281745061,
0.35746602432478874
],
"orientation_std_deg": {
"roll": 0.0241248955356292,
"pitch": 0.017689076258675062,
"yaw": 0.020467858104539844
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
887.75,
696.5
],
"projected_center_px": [
887.571044921875,
696.473388671875
],
"reprojection_error_px": 0.1809228641474075,
"confidence": 0.0702287153073083
},
{
"marker_id": 103,
"observed_center_px": [
379.5,
691.25
],
"projected_center_px": [
379.3891906738281,
691.1223754882812
],
"reprojection_error_px": 0.16901693038898305,
"confidence": 0.17416420855033052
},
{
"marker_id": 58,
"observed_center_px": [
261.5,
685.0
],
"projected_center_px": [
261.437744140625,
684.9998779296875
],
"reprojection_error_px": 0.062255979051661935,
"confidence": 0.24540823915500745
},
{
"marker_id": 215,
"observed_center_px": [
714.25,
644.75
],
"projected_center_px": [
714.0127563476562,
645.0313110351562
],
"reprojection_error_px": 0.36799517534620346,
"confidence": 0.43828628344822296
},
{
"marker_id": 214,
"observed_center_px": [
958.75,
638.25
],
"projected_center_px": [
958.87451171875,
638.192138671875
],
"reprojection_error_px": 0.13729931317551453,
"confidence": 0.32624039952470835
},
{
"marker_id": 64,
"observed_center_px": [
211.25,
631.75
],
"projected_center_px": [
211.6041717529297,
631.7528686523438
],
"reprojection_error_px": 0.35418337021881324,
"confidence": 0.4432762787121197
},
{
"marker_id": 211,
"observed_center_px": [
792.0,
593.5
],
"projected_center_px": [
792.4464111328125,
593.3204956054688
],
"reprojection_error_px": 0.48114938133075696,
"confidence": 0.3071912693949274
},
{
"marker_id": 72,
"observed_center_px": [
1249.0,
596.5
],
"projected_center_px": [
1249.246826171875,
596.5743408203125
],
"reprojection_error_px": 0.25777842556583835,
"confidence": 0.013710388560625888
},
{
"marker_id": 210,
"observed_center_px": [
462.25,
511.75
],
"projected_center_px": [
461.97802734375,
511.8236083984375
],
"reprojection_error_px": 0.2817575590258661,
"confidence": 0.2483175954884472
},
{
"marker_id": 84,
"observed_center_px": [
1226.5,
549.75
],
"projected_center_px": [
1226.444580078125,
549.6978149414062
],
"reprojection_error_px": 0.07612258588004105,
"confidence": 0.0693300182738561
},
{
"marker_id": 86,
"observed_center_px": [
1174.5,
518.5
],
"projected_center_px": [
1174.373779296875,
518.5674438476562
],
"reprojection_error_px": 0.14310953316969782,
"confidence": 0.14539527499019034
},
{
"marker_id": 82,
"observed_center_px": [
975.25,
473.25
],
"projected_center_px": [
975.0958862304688,
473.1941223144531
],
"reprojection_error_px": 0.16393099066743508,
"confidence": 0.11509263497856688
}
]
},
"qa": {
"sanity_notes": []
}
}