327 lines
7.5 KiB
JSON
327 lines
7.5 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T18:36:48Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\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": 9,
|
|
"used_marker_ids": [
|
|
208,
|
|
103,
|
|
58,
|
|
214,
|
|
64,
|
|
211,
|
|
72,
|
|
84,
|
|
86
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.006333816581738461,
|
|
0.0002773011027338013,
|
|
0.00010662089465453542,
|
|
0.00010661827813541825
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.26803473514416426,
|
|
"residual_median_px": 0.23863200652285652,
|
|
"residual_max_px": 0.4319714965335605,
|
|
"sigma2_normalized": 1.705118584239489e-08
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8189369440078735,
|
|
0.5738833546638489,
|
|
-0.0004457749892026186
|
|
],
|
|
[
|
|
0.16132032871246338,
|
|
-0.23095093667507172,
|
|
-0.9594985246658325
|
|
],
|
|
[
|
|
-0.5507431626319885,
|
|
0.7856968641281128,
|
|
-0.2817133069038391
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11497107893228531,
|
|
0.08632615953683853,
|
|
1.1260302066802979
|
|
],
|
|
"rvec_rad": [
|
|
1.7909599776987175,
|
|
0.5647279566505399,
|
|
-0.42338173600008655
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.700381338596344,
|
|
-0.7988013029098511,
|
|
0.399996280670166
|
|
],
|
|
"position_mm": [
|
|
700.38134765625,
|
|
-798.8013305664062,
|
|
399.99627685546875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.72539520263672,
|
|
"pitch": 33.41801071166992,
|
|
"yaw": 11.14387035369873
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.852092030612513e-07,
|
|
1.2324146194593454e-07,
|
|
1.264823680030996e-07,
|
|
4.270453715882081e-10,
|
|
-5.4504294706706134e-08,
|
|
-1.2152984007154248e-08
|
|
],
|
|
[
|
|
1.2324146194593555e-07,
|
|
1.4531202385393299e-07,
|
|
-6.015151106190092e-09,
|
|
1.2042222954696699e-08,
|
|
-2.833712756388377e-08,
|
|
2.8730439663963055e-08
|
|
],
|
|
[
|
|
1.2648236800309913e-07,
|
|
-6.015151106190755e-09,
|
|
2.52995940259767e-07,
|
|
-1.5169021186969528e-08,
|
|
-4.255829665011247e-08,
|
|
-7.174617911570197e-08
|
|
],
|
|
[
|
|
4.2704537158833995e-10,
|
|
1.2042222954696763e-08,
|
|
-1.5169021186969502e-08,
|
|
3.898596269933436e-09,
|
|
7.43659570879186e-10,
|
|
9.126450926756841e-09
|
|
],
|
|
[
|
|
-5.4504294706706287e-08,
|
|
-2.8337127563883675e-08,
|
|
-4.25582966501126e-08,
|
|
7.436595708792132e-10,
|
|
1.636505724746816e-08,
|
|
1.2574879808690192e-08
|
|
],
|
|
[
|
|
-1.2152984007153812e-08,
|
|
2.873043966396327e-08,
|
|
-7.174617911570175e-08,
|
|
9.126450926756889e-09,
|
|
1.25748798086901e-08,
|
|
6.448855219127798e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.030598800350524608,
|
|
0.02184104472411403,
|
|
0.02881903328031589
|
|
],
|
|
"tvec_std_m": [
|
|
6.243874013730126e-05,
|
|
0.00012792598347274162,
|
|
0.0002539459631324703
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0004250847347260799,
|
|
0.0002691146356882737,
|
|
0.0005312504732236512
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.4250847347260799,
|
|
0.2691146356882737,
|
|
0.5312504732236512
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.04070540096755981,
|
|
"pitch": 0.024066544562857728,
|
|
"yaw": 0.03135403694731619
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
887.5,
|
|
696.5
|
|
],
|
|
"projected_center_px": [
|
|
887.3656616210938,
|
|
696.5743408203125
|
|
],
|
|
"reprojection_error_px": 0.15353617688315221,
|
|
"confidence": 0.06739671544456982
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
379.5,
|
|
691.25
|
|
],
|
|
"projected_center_px": [
|
|
379.2528991699219,
|
|
691.2681274414062
|
|
],
|
|
"reprojection_error_px": 0.24776485698588377,
|
|
"confidence": 0.17416420855033052
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
261.5,
|
|
685.0
|
|
],
|
|
"projected_center_px": [
|
|
261.3277587890625,
|
|
685.1651611328125
|
|
],
|
|
"reprojection_error_px": 0.23863200652285652,
|
|
"confidence": 0.24540823915500745
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
958.75,
|
|
638.25
|
|
],
|
|
"projected_center_px": [
|
|
958.7680053710938,
|
|
638.2145385742188
|
|
],
|
|
"reprojection_error_px": 0.03977066892400416,
|
|
"confidence": 0.32624039952470835
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
211.25,
|
|
632.0
|
|
],
|
|
"projected_center_px": [
|
|
211.57020568847656,
|
|
631.8875732421875
|
|
],
|
|
"reprojection_error_px": 0.3393692072138837,
|
|
"confidence": 0.4478501628460533
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
792.0,
|
|
593.5
|
|
],
|
|
"projected_center_px": [
|
|
792.3621826171875,
|
|
593.3333740234375
|
|
],
|
|
"reprojection_error_px": 0.3986733804233661,
|
|
"confidence": 0.3071912693949274
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1249.25,
|
|
596.5
|
|
],
|
|
"projected_center_px": [
|
|
1249.38916015625,
|
|
596.4339599609375
|
|
],
|
|
"reprojection_error_px": 0.1540351773034359,
|
|
"confidence": 0.018959818235601233
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1226.5,
|
|
549.5
|
|
],
|
|
"projected_center_px": [
|
|
1226.63623046875,
|
|
549.5099487304688
|
|
],
|
|
"reprojection_error_px": 0.13659325698505237,
|
|
"confidence": 0.07285288505606423
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
1175.0,
|
|
518.25
|
|
],
|
|
"projected_center_px": [
|
|
1174.581787109375,
|
|
518.358154296875
|
|
],
|
|
"reprojection_error_px": 0.4319714965335605,
|
|
"confidence": 0.1152962676763461
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |