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

568 lines
13 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_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "f",
"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": 26,
"used_marker_ids": [
46,
56,
208,
47,
62,
54,
53,
97,
72,
55,
96,
84,
79,
66,
95,
103,
73,
210,
58,
69,
82,
81,
101,
64,
52,
83
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.007353373451031194,
0.0003710600488929596,
8.906113930528944e-05,
8.900491419954867e-05,
8.900489226102867e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.22376788390648267,
"residual_median_px": 0.18825857568728324,
"residual_max_px": 0.39640627876435003,
"sigma2_normalized": 8.95515834760647e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.31644874811172485,
0.9486086964607239,
0.00130163982976228
],
[
0.9183046221733093,
-0.3059948980808258,
-0.2511647045612335
],
[
-0.23785872757434845,
0.08067604899406433,
-0.9679434895515442
]
],
"translation_m": [
0.1261357069015503,
-0.200173020362854,
1.497665524482727
],
"rvec_rad": [
2.374582435142889,
1.711381147791732,
-0.21684955389903504
]
},
"camera_in_world": {
"position_m": [
0.5001371502876282,
-0.30173107981681824,
1.3992151021957397
],
"position_mm": [
500.13714599609375,
-301.7310791015625,
1399.215087890625
],
"orientation_deg": {
"roll": 175.2355194091797,
"pitch": 13.760193824768066,
"yaw": 70.9859848022461
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.9619416958563405e-07,
1.232837325475714e-07,
3.537784977398958e-08,
-1.2874449920644035e-09,
-1.3120643407548253e-09,
-2.430518562789776e-09
],
[
1.2328373254757045e-07,
1.0492379739637157e-07,
5.587099350476958e-09,
2.8771773145648727e-09,
-1.376635290194795e-09,
2.095544274360706e-09
],
[
3.537784977401896e-08,
5.587099350501193e-09,
7.216196836933972e-07,
4.454379192917962e-09,
-1.137281486631975e-08,
-1.3327718453309484e-07
],
[
-1.287444992064164e-09,
2.8771773145650617e-09,
4.454379192917376e-09,
1.574259199353428e-09,
-9.159737376748967e-11,
1.4651163057535826e-09
],
[
-1.3120643407551655e-09,
-1.3766352901952072e-09,
-1.1372814866319643e-08,
-9.159737376750992e-11,
9.672826358233463e-10,
2.788243505342515e-09
],
[
-2.43051856279491e-09,
2.0955442743564383e-09,
-1.3327718453309545e-07,
1.4651163057534658e-09,
2.7882435053425046e-09,
4.3386424804938955e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.02537848430759805,
0.018559216264706715,
0.048671733890649
],
"tvec_std_m": [
3.967693535737643e-05,
3.110116775658667e-05,
0.00020829408250101335
]
},
"camera_center_std_m": [
0.0008369888619904323,
0.0007984829430878973,
0.0002871572860910438
],
"camera_center_std_mm": [
0.8369888619904322,
0.7984829430878972,
0.2871572860910438
],
"orientation_std_deg": {
"roll": 0.03325401245890173,
"pitch": 0.03236575464664165,
"yaw": 0.012048758808889037
}
}
},
"observations": {
"markers": [
{
"marker_id": 46,
"observed_center_px": [
1234.0,
666.0
],
"projected_center_px": [
1234.341064453125,
665.8336181640625
],
"reprojection_error_px": 0.37948369729856446,
"confidence": 0.2988751797371847
},
{
"marker_id": 56,
"observed_center_px": [
1196.0,
626.75
],
"projected_center_px": [
1196.113525390625,
626.8538208007812
],
"reprojection_error_px": 0.1538400890256465,
"confidence": 0.5697620483284124
},
{
"marker_id": 208,
"observed_center_px": [
831.25,
547.75
],
"projected_center_px": [
831.465576171875,
547.9014282226562
],
"reprojection_error_px": 0.2634456158244247,
"confidence": 0.5829305549976826
},
{
"marker_id": 47,
"observed_center_px": [
593.75,
623.75
],
"projected_center_px": [
593.9198608398438,
623.669189453125
],
"reprojection_error_px": 0.18810382611382645,
"confidence": 0.5768583617164568
},
{
"marker_id": 62,
"observed_center_px": [
751.0,
651.75
],
"projected_center_px": [
750.7454223632812,
651.6237182617188
],
"reprojection_error_px": 0.28417749830104067,
"confidence": 0.5593704450665263
},
{
"marker_id": 54,
"observed_center_px": [
540.5,
639.0
],
"projected_center_px": [
540.5787353515625,
638.9071655273438
],
"reprojection_error_px": 0.12172713296153204,
"confidence": 0.5766374039623903
},
{
"marker_id": 53,
"observed_center_px": [
1240.5,
594.75
],
"projected_center_px": [
1240.2264404296875,
594.78125
],
"reprojection_error_px": 0.27533870234596447,
"confidence": 0.21364841201201337
},
{
"marker_id": 97,
"observed_center_px": [
491.5,
605.25
],
"projected_center_px": [
491.5794372558594,
605.20458984375
],
"reprojection_error_px": 0.09150060059429786,
"confidence": 0.5705029634947052
},
{
"marker_id": 72,
"observed_center_px": [
1197.75,
548.5
],
"projected_center_px": [
1197.5211181640625,
548.55517578125
],
"reprojection_error_px": 0.2354384455832745,
"confidence": 0.5440516905787338
},
{
"marker_id": 55,
"observed_center_px": [
598.75,
542.75
],
"projected_center_px": [
598.8782958984375,
542.7704467773438
],
"reprojection_error_px": 0.12991500398195047,
"confidence": 0.5461315019106076
},
{
"marker_id": 96,
"observed_center_px": [
723.0,
614.5
],
"projected_center_px": [
722.8250122070312,
614.3399658203125
],
"reprojection_error_px": 0.237132170648196,
"confidence": 0.5763709732716893
},
{
"marker_id": 84,
"observed_center_px": [
1254.25,
485.0
],
"projected_center_px": [
1254.1002197265625,
484.99395751953125
],
"reprojection_error_px": 0.14990210766105824,
"confidence": 0.06519221426443914
},
{
"marker_id": 79,
"observed_center_px": [
731.5,
535.75
],
"projected_center_px": [
731.5431518554688,
535.8726806640625
],
"reprojection_error_px": 0.13004856002744464,
"confidence": 0.5460974493377216
},
{
"marker_id": 66,
"observed_center_px": [
453.0,
495.75
],
"projected_center_px": [
452.8733825683594,
495.8895263671875
],
"reprojection_error_px": 0.18841332526074003,
"confidence": 0.5349107016469481
},
{
"marker_id": 95,
"observed_center_px": [
548.75,
435.0
],
"projected_center_px": [
548.5177001953125,
434.867431640625
],
"reprojection_error_px": 0.2674650802726027,
"confidence": 0.5227826547122322
},
{
"marker_id": 103,
"observed_center_px": [
618.0,
313.5
],
"projected_center_px": [
617.8211059570312,
313.5081481933594
],
"reprojection_error_px": 0.1790795121300221,
"confidence": 0.5046333482067283
},
{
"marker_id": 73,
"observed_center_px": [
1247.5,
251.25
],
"projected_center_px": [
1247.839599609375,
251.27215576171875
],
"reprojection_error_px": 0.3403215721416887,
"confidence": 0.13607001327160623
},
{
"marker_id": 210,
"observed_center_px": [
775.0,
150.5
],
"projected_center_px": [
775.3216552734375,
150.4322509765625
],
"reprojection_error_px": 0.328712709074182,
"confidence": 0.46988879526830113
},
{
"marker_id": 58,
"observed_center_px": [
562.75,
264.25
],
"projected_center_px": [
562.7431030273438,
264.154052734375
],
"reprojection_error_px": 0.09619483360729601,
"confidence": 0.4655541127751829
},
{
"marker_id": 69,
"observed_center_px": [
476.25,
240.75
],
"projected_center_px": [
476.10382080078125,
241.11846923828125
],
"reprojection_error_px": 0.39640627876435003,
"confidence": 0.4655541127751829
},
{
"marker_id": 82,
"observed_center_px": [
1207.5,
261.5
],
"projected_center_px": [
1207.3634033203125,
261.34552001953125
],
"reprojection_error_px": 0.20621037138629777,
"confidence": 0.49001748422717006
},
{
"marker_id": 81,
"observed_center_px": [
1027.25,
214.0
],
"projected_center_px": [
1027.4215087890625,
214.0127716064453
],
"reprojection_error_px": 0.17198365810994679,
"confidence": 0.44182011377693337
},
{
"marker_id": 101,
"observed_center_px": [
1162.25,
153.5
],
"projected_center_px": [
1162.3416748046875,
153.4523468017578
],
"reprojection_error_px": 0.10332036158086408,
"confidence": 0.46225891142368675
},
{
"marker_id": 64,
"observed_center_px": [
570.5,
177.75
],
"projected_center_px": [
570.4990844726562,
177.69577026367188
],
"reprojection_error_px": 0.054237463920569835,
"confidence": 0.43211414091114625
},
{
"marker_id": 52,
"observed_center_px": [
1054.5,
160.5
],
"projected_center_px": [
1054.46826171875,
160.70294189453125
],
"reprojection_error_px": 0.20540869273873757,
"confidence": 0.45818248585417487
},
{
"marker_id": 83,
"observed_center_px": [
1173.0,
64.0
],
"projected_center_px": [
1172.84375,
64.00605773925781
],
"reprojection_error_px": 0.15636738376309697,
"confidence": 0.4377857805109236
}
]
},
"qa": {
"sanity_notes": []
}
}