Files
appRobotRender/data/evaluations/Scene9b/render_g_camera_pose.json

610 lines
14 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T21:52:04Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
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": 29,
"used_marker_ids": [
86,
84,
64,
72,
53,
58,
215,
69,
103,
56,
46,
208,
68,
95,
55,
66,
47,
217,
97,
54,
205,
105,
85,
92,
102,
59,
48,
63,
71
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.009211268435935595,
0.0009665199855837849,
3.242380991318419e-05,
2.9198260891075007e-05,
2.9198098769648538e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.280771559009514,
"residual_median_px": 0.2567125611537302,
"residual_max_px": 0.5747679756669216,
"sigma2_normalized": 9.508976990155264e-10
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7071079015731812,
-0.7071056365966797,
3.336541703902185e-05
],
[
-0.6415015459060669,
0.6414837837219238,
-0.4206831455230713
],
[
0.29744601249694824,
-0.29748979210853577,
-0.9072076082229614
]
],
"translation_m": [
-0.00012827604950871319,
0.3321048617362976,
1.3886514902114868
],
"rvec_rad": [
1.1161531218077563,
-2.6946101488728407,
0.5943843340544062
]
},
"camera_in_world": {
"position_m": [
-0.20009379088878632,
0.1999790370464325,
1.3995060920715332
],
"position_mm": [
-200.0937957763672,
199.97903442382812,
1399.506103515625
],
"orientation_deg": {
"roll": -161.84474182128906,
"pitch": -17.30426788330078,
"yaw": -137.7850799560547
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.164059214730765e-09,
-5.784891503975038e-09,
1.7728533019388826e-09,
3.475803639912997e-10,
1.0288073925703414e-09,
3.4822699002633546e-09
],
[
-5.784891503975114e-09,
1.8169869237623746e-08,
-1.0508005651754496e-08,
-2.8073340102538062e-09,
-1.507263792305569e-09,
-8.94532761783409e-09
],
[
1.7728533019386524e-09,
-1.0508005651754632e-08,
3.8935752721189526e-08,
4.084956900218165e-09,
-2.2367767032503723e-09,
5.221957371681024e-10
],
[
3.4758036399129597e-10,
-2.807334010253827e-09,
4.08495690021808e-09,
8.185811222746798e-10,
-7.925939551088288e-11,
6.672789698127827e-10
],
[
1.0288073925703666e-09,
-1.5072637923055407e-09,
-2.2367767032503566e-09,
-7.925939551089225e-11,
5.711635725594524e-10,
1.2779346428650678e-09
],
[
3.482269900263422e-09,
-8.945327617834029e-09,
5.221957371680458e-10,
6.67278969812756e-10,
1.2779346428650819e-09,
7.307861477864948e-09
]
],
"parameter_std": {
"rvec_std_deg": [
0.0036972692668972695,
0.007723222262252608,
0.01130568601525834
],
"tvec_std_m": [
2.8610856720389897e-05,
2.389902869489579e-05,
8.548603089315206e-05
]
},
"camera_center_std_m": [
0.0001905220536085695,
0.0002518186778672474,
9.73558858968507e-05
],
"camera_center_std_mm": [
0.1905220536085695,
0.25181867786724743,
0.09735588589685071
],
"orientation_std_deg": {
"roll": 0.010024916157814182,
"pitch": 0.007544546470545791,
"yaw": 0.003360419678308003
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
252.25,
3045.25
],
"projected_center_px": [
252.19845581054688,
3045.172607421875
],
"reprojection_error_px": 0.0929860990428885,
"confidence": 0.8583016244932863
},
{
"marker_id": 84,
"observed_center_px": [
251.0,
2788.75
],
"projected_center_px": [
250.9166259765625,
2788.649658203125
],
"reprojection_error_px": 0.13045958755208664,
"confidence": 0.8595842805370787
},
{
"marker_id": 64,
"observed_center_px": [
3135.5,
2731.0
],
"projected_center_px": [
3135.904296875,
2731.125
],
"reprojection_error_px": 0.42317958733233535,
"confidence": 0.9504928988896311
},
{
"marker_id": 72,
"observed_center_px": [
392.75,
2479.5
],
"projected_center_px": [
392.7823181152344,
2479.7099609375
],
"reprojection_error_px": 0.21243365046098805,
"confidence": 0.7836711964663502
},
{
"marker_id": 53,
"observed_center_px": [
200.75,
2395.25
],
"projected_center_px": [
200.74530029296875,
2395.318115234375
],
"reprojection_error_px": 0.068277173346154,
"confidence": 0.8453938103482975
},
{
"marker_id": 58,
"observed_center_px": [
2988.5,
2413.25
],
"projected_center_px": [
2988.458740234375,
2413.199951171875
],
"reprojection_error_px": 0.0648633444721726,
"confidence": 0.9481240414859372
},
{
"marker_id": 215,
"observed_center_px": [
1931.0,
2152.0
],
"projected_center_px": [
1930.9141845703125,
2151.84326171875
],
"reprojection_error_px": 0.17869296791327396,
"confidence": 0.15210238022419567
},
{
"marker_id": 69,
"observed_center_px": [
3325.0,
2350.25
],
"projected_center_px": [
3324.837890625,
2350.015869140625
],
"reprojection_error_px": 0.28477483873152604,
"confidence": 0.9347927645980462
},
{
"marker_id": 103,
"observed_center_px": [
2710.25,
2335.75
],
"projected_center_px": [
2710.145263671875,
2335.984375
],
"reprojection_error_px": 0.2567125611537302,
"confidence": 0.9797976608672696
},
{
"marker_id": 56,
"observed_center_px": [
324.5,
2225.25
],
"projected_center_px": [
324.5684814453125,
2225.300048828125
],
"reprojection_error_px": 0.08482094994029907,
"confidence": 0.6389815530751166
},
{
"marker_id": 46,
"observed_center_px": [
160.0,
2162.0
],
"projected_center_px": [
159.82049560546875,
2161.72900390625
],
"reprojection_error_px": 0.3250549345630511,
"confidence": 0.7120228216572078
},
{
"marker_id": 208,
"observed_center_px": [
1624.25,
1854.5
],
"projected_center_px": [
1624.5458984375,
1854.5379638671875
],
"reprojection_error_px": 0.29832388527701154,
"confidence": 0.6751812611331082
},
{
"marker_id": 68,
"observed_center_px": [
113.0,
2009.0
],
"projected_center_px": [
113.14324951171875,
2008.978759765625
],
"reprojection_error_px": 0.14481564198651065,
"confidence": 0.4382648347122287
},
{
"marker_id": 95,
"observed_center_px": [
2720.75,
1844.25
],
"projected_center_px": [
2720.462158203125,
1844.441162109375
],
"reprojection_error_px": 0.3455370487935096,
"confidence": 0.9775262615581529
},
{
"marker_id": 55,
"observed_center_px": [
2383.0,
1602.25
],
"projected_center_px": [
2382.939208984375,
1602.4075927734375
],
"reprojection_error_px": 0.16891130755648717,
"confidence": 0.9916671572515677
},
{
"marker_id": 66,
"observed_center_px": [
2913.25,
1529.25
],
"projected_center_px": [
2913.380126953125,
1529.082763671875
],
"reprojection_error_px": 0.2118985921952494,
"confidence": 0.9547821516182472
},
{
"marker_id": 47,
"observed_center_px": [
2274.25,
1372.5
],
"projected_center_px": [
2274.19189453125,
1372.7274169921875
],
"reprojection_error_px": 0.23472267430793017,
"confidence": 0.9787124171567795
},
{
"marker_id": 217,
"observed_center_px": [
773.5,
1028.5
],
"projected_center_px": [
773.42626953125,
1028.5966796875
],
"reprojection_error_px": 0.121585953124497,
"confidence": 0.4930507276201161
},
{
"marker_id": 97,
"observed_center_px": [
2612.75,
1284.5
],
"projected_center_px": [
2612.570068359375,
1284.2889404296875
],
"reprojection_error_px": 0.27734732289766434,
"confidence": 0.9755542726930121
},
{
"marker_id": 54,
"observed_center_px": [
2412.25,
1260.75
],
"projected_center_px": [
2412.646728515625,
1260.9547119140625
],
"reprojection_error_px": 0.4464308265220361,
"confidence": 0.8304118420901214
},
{
"marker_id": 205,
"observed_center_px": [
509.75,
773.25
],
"projected_center_px": [
510.3240966796875,
773.2777709960938
],
"reprojection_error_px": 0.5747679756669216,
"confidence": 0.457524630576209
},
{
"marker_id": 105,
"observed_center_px": [
1693.5,
955.75
],
"projected_center_px": [
1693.3192138671875,
956.0517578125
],
"reprojection_error_px": 0.3517689628464741,
"confidence": 0.44927926104897536
},
{
"marker_id": 85,
"observed_center_px": [
1890.5,
890.5
],
"projected_center_px": [
1890.6551513671875,
890.1425170898438
],
"reprojection_error_px": 0.38969985603529794,
"confidence": 0.46576904253445844
},
{
"marker_id": 92,
"observed_center_px": [
1114.75,
858.5
],
"projected_center_px": [
1114.5445556640625,
858.7001953125
],
"reprojection_error_px": 0.28685455951714106,
"confidence": 0.4081529920094085
},
{
"marker_id": 102,
"observed_center_px": [
1221.25,
753.5
],
"projected_center_px": [
1221.1365966796875,
753.0899047851562
],
"reprojection_error_px": 0.42548607297494584,
"confidence": 0.6731881993317513
},
{
"marker_id": 59,
"observed_center_px": [
1454.75,
674.75
],
"projected_center_px": [
1454.5496826171875,
674.4480590820312
],
"reprojection_error_px": 0.3623470322779822,
"confidence": 0.897953415560873
},
{
"marker_id": 48,
"observed_center_px": [
1415.0,
426.0
],
"projected_center_px": [
1415.01318359375,
425.9318542480469
],
"reprojection_error_px": 0.069409298032914,
"confidence": 0.9270302907281834
},
{
"marker_id": 63,
"observed_center_px": [
930.0,
416.0
],
"projected_center_px": [
929.9024658203125,
416.2582702636719
],
"reprojection_error_px": 0.2760732607560054,
"confidence": 0.5934970157249145
},
{
"marker_id": 71,
"observed_center_px": [
1146.25,
369.25
],
"projected_center_px": [
1146.185791015625,
369.28131103515625
],
"reprojection_error_px": 0.07143650745259679,
"confidence": 0.8951389773313704
}
]
},
"qa": {
"sanity_notes": []
}
}