Files
appRobotRender/data/evaluations/Scene8/render_b_camera_pose.json
2026-06-01 20:47:39 +02:00

747 lines
17 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T18:36:47Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "b",
"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": 39,
"used_marker_ids": [
63,
102,
64,
58,
92,
96,
103,
62,
51,
79,
205,
217,
208,
210,
206,
207,
214,
94,
76,
100,
75,
68,
46,
50,
72,
104,
53,
60,
67,
86,
88,
70,
73,
82,
98,
83,
61,
90,
91
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.011093638687636574,
0.0006436030261217283,
0.00010282824998360295,
0.00010279252869638501
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.2584369670423191,
"residual_median_px": 0.18416060091414674,
"residual_max_px": 0.522510620901101,
"sigma2_normalized": 1.1446829282985532e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.999921977519989,
-0.01248433068394661,
0.00043103384086862206
],
[
-0.009461755864322186,
-0.7794579267501831,
-0.6263831257820129
],
[
0.008155946619808674,
0.6263301372528076,
-0.7795152068138123
]
],
"translation_m": [
-0.31134286522865295,
0.05270953103899956,
1.4960384368896484
],
"rvec_rad": [
2.4646503655184615,
-0.015198377206528989,
0.0059467625867537155
]
},
"camera_in_world": {
"position_m": [
0.29961568117141724,
-0.8998160362243652,
1.1993352174758911
],
"position_mm": [
299.6156921386719,
-899.8160400390625,
1199.335205078125
],
"orientation_deg": {
"roll": 141.2185821533203,
"pitch": -0.467306524515152,
"yaw": -0.5421447157859802
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.1717065956542015e-08,
7.387089635935163e-10,
2.74028586145257e-09,
1.3329136025014982e-09,
3.2676436991693444e-09,
1.6024438837453037e-08
],
[
7.387089635934132e-10,
1.2121044155042461e-08,
-5.970347265873502e-09,
-9.205320942007325e-10,
-3.17031871939386e-09,
3.831380908203004e-09
],
[
2.7402858614524353e-09,
-5.97034726587355e-09,
9.286921070785842e-08,
5.834164434234871e-09,
-8.93421901324287e-09,
-3.530274157941571e-08
],
[
1.3329136025014939e-09,
-9.205320942007456e-10,
5.8341644342348745e-09,
1.26219901595311e-09,
-2.634599399517684e-10,
-3.9397573923123505e-10
],
[
3.267643699169405e-09,
-3.170318719393852e-09,
-8.934219013242878e-09,
-2.63459939951772e-10,
3.05615540701563e-09,
4.54489569938144e-09
],
[
1.602443883745306e-08,
3.831380908202932e-09,
-3.530274157941582e-08,
-3.93975739231234e-10,
4.544895699381478e-09,
3.6165008405682416e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.013029854662509185,
0.006308014007668826,
0.017460573720022382
],
"tvec_std_m": [
3.5527440323686564e-05,
5.528250543359653e-05,
0.00019017099780377242
]
},
"camera_center_std_m": [
0.0003573986885585613,
0.0002670743505114525,
0.0003370761524841528
],
"camera_center_std_mm": [
0.3573986885585613,
0.2670743505114525,
0.3370761524841528
],
"orientation_std_deg": {
"roll": 0.010410180583974601,
"pitch": 0.012986778635693686,
"yaw": 0.005728532644028995
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1246.0,
678.75
],
"projected_center_px": [
1245.9658203125,
678.5629272460938
],
"reprojection_error_px": 0.19016957246538163,
"confidence": 0.1539593300495616
},
{
"marker_id": 102,
"observed_center_px": [
1078.25,
665.5
],
"projected_center_px": [
1078.44384765625,
665.2827758789062
],
"reprojection_error_px": 0.29114125887371295,
"confidence": 0.39637168760361213
},
{
"marker_id": 64,
"observed_center_px": [
220.5,
635.25
],
"projected_center_px": [
220.38131713867188,
635.35791015625
],
"reprojection_error_px": 0.16040643190012788,
"confidence": 0.4633649853376546
},
{
"marker_id": 58,
"observed_center_px": [
307.25,
668.0
],
"projected_center_px": [
307.1998291015625,
668.0831298828125
],
"reprojection_error_px": 0.09709632571032707,
"confidence": 0.3638956157928849
},
{
"marker_id": 92,
"observed_center_px": [
1064.5,
622.75
],
"projected_center_px": [
1064.5921630859375,
622.5718994140625
],
"reprojection_error_px": 0.2005339201252592,
"confidence": 0.46896024883690896
},
{
"marker_id": 96,
"observed_center_px": [
716.75,
628.0
],
"projected_center_px": [
716.9041137695312,
628.114013671875
],
"reprojection_error_px": 0.19170334199891093,
"confidence": 0.44372569385651617
},
{
"marker_id": 103,
"observed_center_px": [
382.0,
633.0
],
"projected_center_px": [
381.9422607421875,
633.0508422851562
],
"reprojection_error_px": 0.07693347680072558,
"confidence": 0.45199802144368495
},
{
"marker_id": 62,
"observed_center_px": [
760.25,
615.0
],
"projected_center_px": [
760.3285522460938,
615.1016235351562
],
"reprojection_error_px": 0.12844375525507903,
"confidence": 0.44348322079976393
},
{
"marker_id": 51,
"observed_center_px": [
461.75,
615.0
],
"projected_center_px": [
461.8082580566406,
614.9672241210938
],
"reprojection_error_px": 0.06684504021705301,
"confidence": 0.44348322079976393
},
{
"marker_id": 79,
"observed_center_px": [
643.75,
598.75
],
"projected_center_px": [
643.6393432617188,
598.9309692382812
],
"reprojection_error_px": 0.21211972782167363,
"confidence": 0.41815762699787656
},
{
"marker_id": 205,
"observed_center_px": [
1181.0,
502.0
],
"projected_center_px": [
1180.7822265625,
502.1390686035156
],
"reprojection_error_px": 0.25838991188580196,
"confidence": 0.3958181457519531
},
{
"marker_id": 217,
"observed_center_px": [
1058.0,
503.25
],
"projected_center_px": [
1058.0450439453125,
503.3835754394531
],
"reprojection_error_px": 0.14096579384521252,
"confidence": 0.4015868133874269
},
{
"marker_id": 208,
"observed_center_px": [
688.75,
507.0
],
"projected_center_px": [
689.0005493164062,
507.1256103515625
],
"reprojection_error_px": 0.2802729390635029,
"confidence": 0.3776
},
{
"marker_id": 210,
"observed_center_px": [
291.0,
441.75
],
"projected_center_px": [
291.14788818359375,
441.398193359375
],
"reprojection_error_px": 0.3816265546768288,
"confidence": 0.3320910299473707
},
{
"marker_id": 206,
"observed_center_px": [
1043.0,
424.5
],
"projected_center_px": [
1042.8446044921875,
424.4183044433594
],
"reprojection_error_px": 0.17556174931666155,
"confidence": 0.3579602826436361
},
{
"marker_id": 207,
"observed_center_px": [
1162.0,
423.25
],
"projected_center_px": [
1161.4781494140625,
423.2585144042969
],
"reprojection_error_px": 0.5219200409294921,
"confidence": 0.343462485354258
},
{
"marker_id": 214,
"observed_center_px": [
686.25,
427.75
],
"projected_center_px": [
686.1656494140625,
427.9052429199219
],
"reprojection_error_px": 0.17667876367540403,
"confidence": 0.3244367816091954
},
{
"marker_id": 94,
"observed_center_px": [
1252.0,
279.5
],
"projected_center_px": [
1251.8607177734375,
279.63677978515625
],
"reprojection_error_px": 0.1952133403832778,
"confidence": 0.06057156860351561
},
{
"marker_id": 76,
"observed_center_px": [
1046.0,
287.5
],
"projected_center_px": [
1046.0728759765625,
287.1498718261719
],
"reprojection_error_px": 0.35763199810441426,
"confidence": 0.2459421895345052
},
{
"marker_id": 100,
"observed_center_px": [
1173.25,
281.5
],
"projected_center_px": [
1173.478759765625,
281.41015625
],
"reprojection_error_px": 0.24577007503532125,
"confidence": 0.24407473894265982
},
{
"marker_id": 75,
"observed_center_px": [
271.75,
271.5
],
"projected_center_px": [
271.7691955566406,
271.47454833984375
],
"reprojection_error_px": 0.03187877663042744,
"confidence": 0.23896265492072474
},
{
"marker_id": 68,
"observed_center_px": [
924.0,
285.25
],
"projected_center_px": [
923.9862670898438,
285.10125732421875
],
"reprojection_error_px": 0.14937528717939152,
"confidence": 0.24909137483284013
},
{
"marker_id": 46,
"observed_center_px": [
881.75,
273.5
],
"projected_center_px": [
882.051025390625,
273.3699645996094
],
"reprojection_error_px": 0.3279107975588544,
"confidence": 0.23734254719660833
},
{
"marker_id": 50,
"observed_center_px": [
919.0,
251.5
],
"projected_center_px": [
918.6591186523438,
251.75372314453125
],
"reprojection_error_px": 0.4249417927796309,
"confidence": 0.24364819717407224
},
{
"marker_id": 72,
"observed_center_px": [
777.75,
267.25
],
"projected_center_px": [
777.6388549804688,
267.1112060546875
],
"reprojection_error_px": 0.1778116267908575,
"confidence": 0.21841319450965294
},
{
"marker_id": 104,
"observed_center_px": [
1184.0,
228.0
],
"projected_center_px": [
1184.112060546875,
227.8472900390625
],
"reprojection_error_px": 0.18941462017346192,
"confidence": 0.22417849731445313
},
{
"marker_id": 53,
"observed_center_px": [
825.5,
252.25
],
"projected_center_px": [
825.0706787109375,
252.29075622558594
],
"reprojection_error_px": 0.4312514801902696,
"confidence": 0.22367025973033955
},
{
"marker_id": 60,
"observed_center_px": [
765.0,
197.25
],
"projected_center_px": [
764.9937744140625,
197.23472595214844
],
"reprojection_error_px": 0.016494073421596582,
"confidence": 0.2000031054889577
},
{
"marker_id": 67,
"observed_center_px": [
859.25,
209.25
],
"projected_center_px": [
859.3123779296875,
209.16848754882812
],
"reprojection_error_px": 0.10264154036327593,
"confidence": 0.19627771759033205
},
{
"marker_id": 86,
"observed_center_px": [
690.25,
192.0
],
"projected_center_px": [
689.9580078125,
191.7041778564453
],
"reprojection_error_px": 0.41565632219217513,
"confidence": 0.18966921411877496
},
{
"marker_id": 88,
"observed_center_px": [
1105.0,
169.75
],
"projected_center_px": [
1105.23486328125,
170.2167510986328
],
"reprojection_error_px": 0.522510620901101,
"confidence": 0.20782158780899712
},
{
"marker_id": 70,
"observed_center_px": [
938.0,
183.5
],
"projected_center_px": [
938.0252685546875,
183.3175811767578
],
"reprojection_error_px": 0.18416060091414674,
"confidence": 0.193995418548584
},
{
"marker_id": 73,
"observed_center_px": [
543.5,
162.5
],
"projected_center_px": [
543.4841918945312,
162.51072692871094
],
"reprojection_error_px": 0.01910401000001463,
"confidence": 0.1929997138977051
},
{
"marker_id": 82,
"observed_center_px": [
540.0,
189.0
],
"projected_center_px": [
539.999267578125,
189.0796356201172
],
"reprojection_error_px": 0.07963898814809224,
"confidence": 0.19249963767972095
},
{
"marker_id": 98,
"observed_center_px": [
908.75,
172.5
],
"projected_center_px": [
908.7716674804688,
172.63194274902344
],
"reprojection_error_px": 0.13371001731256144,
"confidence": 0.1899538473288218
},
{
"marker_id": 83,
"observed_center_px": [
361.0,
159.75
],
"projected_center_px": [
361.09381103515625,
159.614990234375
],
"reprojection_error_px": 0.1644023939339224,
"confidence": 0.17676838843571283
},
{
"marker_id": 61,
"observed_center_px": [
292.25,
162.5
],
"projected_center_px": [
292.19354248046875,
162.67332458496094
],
"reprojection_error_px": 0.18228785824487245,
"confidence": 0.1668050360320266
},
{
"marker_id": 90,
"observed_center_px": [
978.25,
170.75
],
"projected_center_px": [
978.6781005859375,
171.01870727539062
],
"reprojection_error_px": 0.5054440735906239,
"confidence": 0.17612778902053833
},
{
"marker_id": 91,
"observed_center_px": [
1059.25,
161.75
],
"projected_center_px": [
1059.4254150390625,
161.79110717773438
],
"reprojection_error_px": 0.18016724449961458,
"confidence": 0.17612778902053833
}
]
},
"qa": {
"sanity_notes": []
}
}