677 lines
15 KiB
JSON
677 lines
15 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T19:27:40Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\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": 34,
|
|
"used_marker_ids": [
|
|
86,
|
|
84,
|
|
64,
|
|
72,
|
|
53,
|
|
58,
|
|
215,
|
|
56,
|
|
69,
|
|
103,
|
|
46,
|
|
208,
|
|
68,
|
|
95,
|
|
66,
|
|
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
|
|
],
|
|
"rms": [
|
|
0.008616079914681034,
|
|
0.0005290489760608585,
|
|
9.065538756645569e-05,
|
|
9.061086191462962e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.25628655734249844,
|
|
"residual_median_px": 0.2016244341154558,
|
|
"residual_max_px": 0.5371148854753282,
|
|
"sigma2_normalized": 9.004876109362618e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7071177959442139,
|
|
-0.707095742225647,
|
|
-5.7539269619155675e-05
|
|
],
|
|
[
|
|
-0.6416155695915222,
|
|
0.641669750213623,
|
|
-0.42022547125816345
|
|
],
|
|
[
|
|
0.2971765697002411,
|
|
-0.29711198806762695,
|
|
-0.907419741153717
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.00042765357648022473,
|
|
0.33185747265815735,
|
|
1.3887135982513428
|
|
],
|
|
"rvec_rad": [
|
|
1.116205448110461,
|
|
-2.694865990418887,
|
|
0.5936748364575837
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.20007061958312988,
|
|
0.19935818016529083,
|
|
1.3996011018753052
|
|
],
|
|
"position_mm": [
|
|
-200.07061767578125,
|
|
199.35818481445312,
|
|
1399.60107421875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.8702392578125,
|
|
"pitch": -17.28809928894043,
|
|
"yaw": -137.78042602539062
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.122308768158314e-08,
|
|
-3.827193913983776e-08,
|
|
2.6499414373493475e-08,
|
|
2.194363774095227e-09,
|
|
6.679045586989726e-09,
|
|
2.5255290918367435e-08
|
|
],
|
|
[
|
|
-3.827193913983792e-08,
|
|
1.0447376623227572e-07,
|
|
-7.694911868987591e-08,
|
|
-1.6801476456589724e-08,
|
|
-8.745384266776345e-09,
|
|
-5.7460289366049056e-08
|
|
],
|
|
[
|
|
2.64994143734934e-08,
|
|
-7.694911868987663e-08,
|
|
2.7517472114517384e-07,
|
|
2.8922860750337977e-08,
|
|
-1.498252359879593e-08,
|
|
1.5237661679730823e-10
|
|
],
|
|
[
|
|
2.194363774095285e-09,
|
|
-1.680147645658985e-08,
|
|
2.8922860750337888e-08,
|
|
5.819333895589589e-09,
|
|
-9.122485832771833e-10,
|
|
2.766408365485984e-09
|
|
],
|
|
[
|
|
6.679045586989753e-09,
|
|
-8.745384266776258e-09,
|
|
-1.4982523598795942e-08,
|
|
-9.122485832772114e-10,
|
|
4.145020534936541e-09,
|
|
9.394609428122434e-09
|
|
],
|
|
[
|
|
2.5255290918367355e-08,
|
|
-5.7460289366048705e-08,
|
|
1.523766167965108e-10,
|
|
2.766408365485858e-09,
|
|
9.394609428122462e-09,
|
|
5.7799786969888015e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.010124196289487604,
|
|
0.018519372105904597,
|
|
0.030055703650689793
|
|
],
|
|
"tvec_std_m": [
|
|
7.628455869695773e-05,
|
|
6.43818338892e-05,
|
|
0.00024041586255879211
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.00043809376796639124,
|
|
0.0006280100024420472,
|
|
0.00029337175570825304
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.4380937679663912,
|
|
0.6280100024420472,
|
|
0.293371755708253
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.01876873931129824,
|
|
"pitch": 0.01811282155105617,
|
|
"yaw": 0.0060238390839913334
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
74.0,
|
|
955.25
|
|
],
|
|
"projected_center_px": [
|
|
73.7973403930664,
|
|
955.2714233398438
|
|
],
|
|
"reprojection_error_px": 0.20378880188209442,
|
|
"confidence": 0.6483335065489111
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
73.5,
|
|
880.0
|
|
],
|
|
"projected_center_px": [
|
|
73.41437530517578,
|
|
879.8236694335938
|
|
],
|
|
"reprojection_error_px": 0.1960205525267428,
|
|
"confidence": 0.6193012733871159
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
921.75,
|
|
863.25
|
|
],
|
|
"projected_center_px": [
|
|
921.9163818359375,
|
|
862.8717041015625
|
|
],
|
|
"reprojection_error_px": 0.41326831732491726,
|
|
"confidence": 0.6301648743824048
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
115.0,
|
|
789.0
|
|
],
|
|
"projected_center_px": [
|
|
115.13070678710938,
|
|
788.9540405273438
|
|
],
|
|
"reprojection_error_px": 0.13855156918380993,
|
|
"confidence": 0.5889608001281618
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
58.5,
|
|
763.75
|
|
],
|
|
"projected_center_px": [
|
|
58.64946365356445,
|
|
764.1337280273438
|
|
],
|
|
"reprojection_error_px": 0.4118089152822709,
|
|
"confidence": 0.3861449878885159
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
878.75,
|
|
769.25
|
|
],
|
|
"projected_center_px": [
|
|
878.5601806640625,
|
|
769.3589477539062
|
|
],
|
|
"reprojection_error_px": 0.2188629556982412,
|
|
"confidence": 0.6025285956069217
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
567.5,
|
|
692.5
|
|
],
|
|
"projected_center_px": [
|
|
567.5054321289062,
|
|
692.50634765625
|
|
],
|
|
"reprojection_error_px": 0.008354685171942799,
|
|
"confidence": 0.5318508364425018
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
95.25,
|
|
714.0
|
|
],
|
|
"projected_center_px": [
|
|
95.06304931640625,
|
|
714.1227416992188
|
|
],
|
|
"reprojection_error_px": 0.22364275714468493,
|
|
"confidence": 0.5338277449622252
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
977.5,
|
|
751.0
|
|
],
|
|
"projected_center_px": [
|
|
977.5006103515625,
|
|
750.7692260742188
|
|
],
|
|
"reprojection_error_px": 0.23077473290964878,
|
|
"confidence": 0.5866976533295247
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
796.75,
|
|
746.5
|
|
],
|
|
"projected_center_px": [
|
|
796.70361328125,
|
|
746.6495971679688
|
|
],
|
|
"reprojection_error_px": 0.15662388176986933,
|
|
"confidence": 0.6161895904287729
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
46.75,
|
|
695.0
|
|
],
|
|
"projected_center_px": [
|
|
46.60731887817383,
|
|
695.4257202148438
|
|
],
|
|
"reprojection_error_px": 0.4489939908864968,
|
|
"confidence": 0.25489120456317976
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
477.5,
|
|
605.25
|
|
],
|
|
"projected_center_px": [
|
|
477.3971862792969,
|
|
605.05517578125
|
|
],
|
|
"reprojection_error_px": 0.22028875907855136,
|
|
"confidence": 0.5592585450018642
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
32.75,
|
|
650.75
|
|
],
|
|
"projected_center_px": [
|
|
32.87502670288086,
|
|
650.4948120117188
|
|
],
|
|
"reprojection_error_px": 0.28416999453899083,
|
|
"confidence": 0.10851782362904303
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
799.25,
|
|
602.25
|
|
],
|
|
"projected_center_px": [
|
|
799.7515258789062,
|
|
602.0577392578125
|
|
],
|
|
"reprojection_error_px": 0.5371148854753282,
|
|
"confidence": 0.5169030981045668
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
856.75,
|
|
509.0
|
|
],
|
|
"projected_center_px": [
|
|
856.5053100585938,
|
|
509.2841491699219
|
|
],
|
|
"reprojection_error_px": 0.37498522396580464,
|
|
"confidence": 0.5036491725121419
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
700.5,
|
|
531.0
|
|
],
|
|
"projected_center_px": [
|
|
700.4795532226562,
|
|
530.8629150390625
|
|
],
|
|
"reprojection_error_px": 0.1386014329614986,
|
|
"confidence": 0.5306273485801539
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
227.0,
|
|
362.0
|
|
],
|
|
"projected_center_px": [
|
|
227.0518798828125,
|
|
362.091796875
|
|
],
|
|
"reprojection_error_px": 0.10544282099984027,
|
|
"confidence": 0.42765819396972654
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
768.25,
|
|
437.0
|
|
],
|
|
"projected_center_px": [
|
|
768.0307006835938,
|
|
437.2737121582031
|
|
],
|
|
"reprojection_error_px": 0.3507285784256268,
|
|
"confidence": 0.4770832099303063
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
668.5,
|
|
463.5
|
|
],
|
|
"projected_center_px": [
|
|
668.4970092773438,
|
|
463.2967834472656
|
|
],
|
|
"reprojection_error_px": 0.20323855866259635,
|
|
"confidence": 0.5046753915740128
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
709.25,
|
|
430.25
|
|
],
|
|
"projected_center_px": [
|
|
709.2247924804688,
|
|
430.4122009277344
|
|
],
|
|
"reprojection_error_px": 0.1641479820126044,
|
|
"confidence": 0.48044802302553946
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
149.5,
|
|
287.0
|
|
],
|
|
"projected_center_px": [
|
|
149.6591033935547,
|
|
286.9810791015625
|
|
],
|
|
"reprojection_error_px": 0.16022449949461526,
|
|
"confidence": 0.37983708259950827
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
327.25,
|
|
312.0
|
|
],
|
|
"projected_center_px": [
|
|
327.3981628417969,
|
|
312.0917053222656
|
|
],
|
|
"reprojection_error_px": 0.1742472204115978,
|
|
"confidence": 0.4022491322386975
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
497.75,
|
|
340.75
|
|
],
|
|
"projected_center_px": [
|
|
497.6419677734375,
|
|
340.7227478027344
|
|
],
|
|
"reprojection_error_px": 0.11141653482251128,
|
|
"confidence": 0.4159799246492322
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
358.75,
|
|
281.0
|
|
],
|
|
"projected_center_px": [
|
|
358.7513122558594,
|
|
281.01861572265625
|
|
],
|
|
"reprojection_error_px": 0.018661916982316784,
|
|
"confidence": 0.40369943799637525
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
556.0,
|
|
321.25
|
|
],
|
|
"projected_center_px": [
|
|
555.6884155273438,
|
|
321.32861328125
|
|
],
|
|
"reprojection_error_px": 0.32134861379717355,
|
|
"confidence": 0.3811333266788848
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
427.5,
|
|
258.0
|
|
],
|
|
"projected_center_px": [
|
|
427.4093933105469,
|
|
257.87713623046875
|
|
],
|
|
"reprojection_error_px": 0.15266000798206172,
|
|
"confidence": 0.40503361354029466
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
273.25,
|
|
182.0
|
|
],
|
|
"projected_center_px": [
|
|
273.0826721191406,
|
|
181.92306518554688
|
|
],
|
|
"reprojection_error_px": 0.18416727556171852,
|
|
"confidence": 0.3570061701664598
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
520.5,
|
|
214.0
|
|
],
|
|
"projected_center_px": [
|
|
520.9168090820312,
|
|
214.18429565429688
|
|
],
|
|
"reprojection_error_px": 0.4557353388277527,
|
|
"confidence": 0.3794817963241243
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
336.5,
|
|
168.0
|
|
],
|
|
"projected_center_px": [
|
|
336.7027893066406,
|
|
168.0972442626953
|
|
],
|
|
"reprojection_error_px": 0.2248998655289513,
|
|
"confidence": 0.33715640885841447
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
415.75,
|
|
184.75
|
|
],
|
|
"projected_center_px": [
|
|
415.77984619140625,
|
|
184.76004028320312
|
|
],
|
|
"reprojection_error_px": 0.03148971940582299,
|
|
"confidence": 0.37002407289138056
|
|
},
|
|
{
|
|
"marker_id": 65,
|
|
"observed_center_px": [
|
|
308.25,
|
|
123.0
|
|
],
|
|
"projected_center_px": [
|
|
308.3591613769531,
|
|
122.95537567138672
|
|
],
|
|
"reprojection_error_px": 0.11793022056491018,
|
|
"confidence": 0.3320649522984733
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
161.0,
|
|
65.0
|
|
],
|
|
"projected_center_px": [
|
|
160.94216918945312,
|
|
64.80853271484375
|
|
],
|
|
"reprojection_error_px": 0.20001030956831525,
|
|
"confidence": 0.33383204999036237
|
|
},
|
|
{
|
|
"marker_id": 78,
|
|
"observed_center_px": [
|
|
334.75,
|
|
79.0
|
|
],
|
|
"projected_center_px": [
|
|
334.9178161621094,
|
|
79.0076904296875
|
|
],
|
|
"reprojection_error_px": 0.16799228248314985,
|
|
"confidence": 0.33383204999036237
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
298.0,
|
|
58.5
|
|
],
|
|
"projected_center_px": [
|
|
297.8836975097656,
|
|
58.27167510986328
|
|
],
|
|
"reprojection_error_px": 0.2562391942905331,
|
|
"confidence": 0.2761672244399736
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |