330 lines
7.6 KiB
JSON
330 lines
7.6 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T21:52:03Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
|
|
[
|
|
6800.0,
|
|
0.0,
|
|
2448.0
|
|
],
|
|
[
|
|
0.0,
|
|
6800.0,
|
|
1632.0
|
|
],
|
|
[
|
|
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": 9,
|
|
"used_marker_ids": [
|
|
208,
|
|
69,
|
|
51,
|
|
103,
|
|
58,
|
|
214,
|
|
64,
|
|
211,
|
|
72
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4
|
|
],
|
|
"rms": [
|
|
0.003520128196496929,
|
|
0.000114240188266878,
|
|
3.379947424673572e-05,
|
|
3.376181277906741e-05,
|
|
3.3761807067548674e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 0.3246578692423999,
|
|
"residual_median_px": 0.29577311767102976,
|
|
"residual_max_px": 0.5441938890402146,
|
|
"sigma2_normalized": 1.7097894246792758e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8191238641738892,
|
|
0.573616623878479,
|
|
-0.0001771328243194148
|
|
],
|
|
[
|
|
0.16109520196914673,
|
|
-0.2303401082754135,
|
|
-0.9596831798553467
|
|
],
|
|
[
|
|
-0.5505310297012329,
|
|
0.7860708832740784,
|
|
-0.28108397126197815
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11469219624996185,
|
|
0.0866641104221344,
|
|
1.1263433694839478
|
|
],
|
|
"rvec_rad": [
|
|
1.7903221935012292,
|
|
0.5644041325871039,
|
|
-0.42305288280827436
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.7000728845596313,
|
|
-0.7996341586112976,
|
|
0.399746835231781
|
|
],
|
|
"position_mm": [
|
|
700.0728759765625,
|
|
-799.6341552734375,
|
|
399.746826171875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.67607879638672,
|
|
"pitch": 33.40345001220703,
|
|
"yaw": 11.126230239868164
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
6.63262982552889e-08,
|
|
2.0862133084927525e-08,
|
|
2.0455756259492318e-08,
|
|
-5.706366886381124e-10,
|
|
-1.3165761676991178e-08,
|
|
-4.029712614749384e-09
|
|
],
|
|
[
|
|
2.0862133084927637e-08,
|
|
2.057869969800236e-08,
|
|
-7.787538732702012e-09,
|
|
2.4322089956868134e-09,
|
|
-4.479553550178746e-09,
|
|
1.4541203081167942e-09
|
|
],
|
|
[
|
|
2.0455756259491577e-08,
|
|
-7.787538732702035e-09,
|
|
4.1031877596077536e-08,
|
|
-4.098620663739062e-09,
|
|
-5.2449587193885445e-09,
|
|
-6.5001136447099386e-09
|
|
],
|
|
[
|
|
-5.706366886380686e-10,
|
|
2.432208995686822e-09,
|
|
-4.098620663739103e-09,
|
|
7.427454828299447e-10,
|
|
1.24705216198525e-10,
|
|
5.743133826731763e-10
|
|
],
|
|
[
|
|
-1.3165761676991096e-08,
|
|
-4.479553550178717e-09,
|
|
-5.244958719388639e-09,
|
|
1.2470521619852888e-10,
|
|
3.0230403319432912e-09,
|
|
1.6131397389718678e-09
|
|
],
|
|
[
|
|
-4.029712614749232e-09,
|
|
1.4541203081168122e-09,
|
|
-6.500113644709939e-09,
|
|
5.743133826731717e-10,
|
|
1.6131397389718467e-09,
|
|
5.097167280083305e-09
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.014755893503452622,
|
|
0.008219238775190006,
|
|
0.011606020348306647
|
|
],
|
|
"tvec_std_m": [
|
|
2.725335727630533e-05,
|
|
5.498218194963975e-05,
|
|
7.139444852426066e-05
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0001694115470169476,
|
|
0.00014801151553307744,
|
|
0.0002392090552934723
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.16941154701694758,
|
|
0.14801151553307743,
|
|
0.2392090552934723
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.01738420582585321,
|
|
"pitch": 0.010200212268914767,
|
|
"yaw": 0.01181004534728506
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
3396.5,
|
|
2920.25
|
|
],
|
|
"projected_center_px": [
|
|
3396.68896484375,
|
|
2920.4775390625
|
|
],
|
|
"reprojection_error_px": 0.29577311767102976,
|
|
"confidence": 0.6314079334431163
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
429.5,
|
|
2970.25
|
|
],
|
|
"projected_center_px": [
|
|
429.49273681640625,
|
|
2970.36083984375
|
|
],
|
|
"reprojection_error_px": 0.11107756208362216,
|
|
"confidence": 0.8040999219130639
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
1878.5,
|
|
2978.75
|
|
],
|
|
"projected_center_px": [
|
|
1878.2166748046875,
|
|
2978.930908203125
|
|
],
|
|
"reprojection_error_px": 0.336156130773756,
|
|
"confidence": 0.8862418603164292
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
1453.5,
|
|
2900.25
|
|
],
|
|
"projected_center_px": [
|
|
1453.4097900390625,
|
|
2900.260009765625
|
|
],
|
|
"reprojection_error_px": 0.09076360757601423,
|
|
"confidence": 0.959533344033848
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
1002.5,
|
|
2877.0
|
|
],
|
|
"projected_center_px": [
|
|
1002.3934936523438,
|
|
2876.90087890625
|
|
],
|
|
"reprojection_error_px": 0.14549430682081782,
|
|
"confidence": 0.9065874262743316
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
3669.5,
|
|
2698.0
|
|
],
|
|
"projected_center_px": [
|
|
3669.33154296875,
|
|
2697.587890625
|
|
],
|
|
"reprojection_error_px": 0.4452099598396852,
|
|
"confidence": 0.5709725711465045
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
811.5,
|
|
2673.25
|
|
],
|
|
"projected_center_px": [
|
|
811.784912109375,
|
|
2673.326171875
|
|
],
|
|
"reprojection_error_px": 0.29491874238428384,
|
|
"confidence": 0.7084379310690048
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
3032.5,
|
|
2526.5
|
|
],
|
|
"projected_center_px": [
|
|
3032.846435546875,
|
|
2526.080322265625
|
|
],
|
|
"reprojection_error_px": 0.5441938890402146,
|
|
"confidence": 0.2771644450942897
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
4780.0,
|
|
2538.0
|
|
],
|
|
"projected_center_px": [
|
|
4779.849609375,
|
|
2538.320068359375
|
|
],
|
|
"reprojection_error_px": 0.3536397810779986,
|
|
"confidence": 0.10114757329739069
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |