Files
appRobotRender/data/evaluations/Scene9a/render_g_camera_pose.json
2026-05-31 17:39:25 +02:00

680 lines
15 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T15:26:01Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 34,
"used_marker_ids": [
86,
84,
64,
72,
53,
58,
215,
56,
69,
103,
46,
208,
68,
95,
66,
55,
217,
97,
47,
54,
205,
92,
105,
102,
85,
59,
63,
57,
71,
48,
65,
87,
78,
80
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.006235925667708763,
0.002480316844311102,
0.002134602611969543,
0.002134133953166494,
0.0021341338435021586
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 6.476911002138597,
"residual_median_px": 3.7029248047180534,
"residual_max_px": 15.301943490300987,
"sigma2_normalized": 4.995287964473454e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7273880839347839,
-0.6839356422424316,
0.056023478507995605
],
[
-0.5901118516921997,
0.5817513465881348,
-0.5597618818283081
],
[
0.35024937987327576,
-0.44022423028945923,
-0.8267574906349182
]
],
"translation_m": [
0.010265595279633999,
0.2970719039440155,
1.380825161933899
],
"rvec_rad": [
1.0739947938364942,
-2.643494071826141,
0.8429669209441935
]
},
"camera_in_world": {
"position_m": [
-0.3008604347705841,
0.44207167625427246,
1.3073219060897827
],
"position_mm": [
-300.8604431152344,
442.0716857910156,
1307.3218994140625
],
"orientation_deg": {
"roll": -151.9659881591797,
"pitch": -20.5025691986084,
"yaw": -140.94842529296875
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.2678993351633908e-05,
-9.273892846845152e-06,
3.2328364183342608e-06,
-6.897131572790644e-07,
3.555819081815747e-06,
7.713103585412565e-06
],
[
-9.273892846845195e-06,
3.14196712760964e-05,
-1.4607227643187516e-05,
-5.236226978853111e-06,
-4.587383564426748e-06,
-1.857892082197838e-05
],
[
3.23283641833374e-06,
-1.460722764318749e-05,
0.00010154830012065975,
1.2473216237054721e-05,
-6.944847210994546e-06,
-8.527775507467268e-06
],
[
-6.897131572791107e-07,
-5.236226978853115e-06,
1.2473216237054635e-05,
2.996532838598317e-06,
-6.280818269397964e-07,
-6.992394616878696e-07
],
[
3.555819081815803e-06,
-4.587383564426746e-06,
-6.944847210994416e-06,
-6.280818269397929e-07,
2.3708665503792565e-06,
4.66551432019133e-06
],
[
7.713103585412692e-06,
-1.8578920821978394e-05,
-8.52777550746722e-06,
-6.992394616878835e-07,
4.665514320191356e-06,
2.5294584377413852e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.20401637161389885,
0.3211614802252145,
0.5773763109697178
],
"tvec_std_m": [
0.0017310496349320307,
0.0015397618485919363,
0.005029372165331758
]
},
"camera_center_std_m": [
0.008096037874330365,
0.012116954099081595,
0.007118059499775292
],
"camera_center_std_mm": [
8.096037874330365,
12.116954099081594,
7.118059499775292
],
"orientation_std_deg": {
"roll": 0.48438711097623344,
"pitch": 0.3328190953343278,
"yaw": 0.18011378424316185
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
74.0,
955.25
],
"projected_center_px": [
70.9861068725586,
970.252197265625
],
"reprojection_error_px": 15.301943490300987,
"confidence": 0.6483335065489111
},
{
"marker_id": 84,
"observed_center_px": [
73.5,
880.0
],
"projected_center_px": [
71.5440444946289,
889.0794677734375
],
"reprojection_error_px": 9.287760601344202,
"confidence": 0.6193012733871159
},
{
"marker_id": 64,
"observed_center_px": [
921.75,
863.25
],
"projected_center_px": [
926.8487548828125,
867.7329711914062
],
"reprojection_error_px": 6.789280673089211,
"confidence": 0.6301648743824048
},
{
"marker_id": 72,
"observed_center_px": [
115.0,
789.0
],
"projected_center_px": [
115.59223175048828,
792.4087524414062
],
"reprojection_error_px": 3.4598167080178515,
"confidence": 0.5889608001281618
},
{
"marker_id": 53,
"observed_center_px": [
58.5,
763.75
],
"projected_center_px": [
57.80401611328125,
766.3001098632812
],
"reprojection_error_px": 2.6433792549266277,
"confidence": 0.3861449878885159
},
{
"marker_id": 58,
"observed_center_px": [
878.75,
769.25
],
"projected_center_px": [
880.1554565429688,
771.2491455078125
],
"reprojection_error_px": 2.4437452517765776,
"confidence": 0.6025285956069217
},
{
"marker_id": 215,
"observed_center_px": [
567.5,
692.5
],
"projected_center_px": [
574.0743408203125,
684.7786254882812
],
"reprojection_error_px": 10.141083846012082,
"confidence": 0.5479675284559109
},
{
"marker_id": 56,
"observed_center_px": [
95.25,
714.0
],
"projected_center_px": [
95.77401733398438,
713.859619140625
],
"reprojection_error_px": 0.5424951170240664,
"confidence": 0.5338277449622252
},
{
"marker_id": 69,
"observed_center_px": [
977.5,
751.0
],
"projected_center_px": [
975.6190795898438,
752.17919921875
],
"reprojection_error_px": 2.2199937808117767,
"confidence": 0.5866976533295247
},
{
"marker_id": 103,
"observed_center_px": [
796.75,
746.5
],
"projected_center_px": [
799.0851440429688,
747.9617919921875
],
"reprojection_error_px": 2.7549471010957616,
"confidence": 0.6161895904287729
},
{
"marker_id": 46,
"observed_center_px": [
46.75,
695.0
],
"projected_center_px": [
46.38943099975586,
694.2696533203125
],
"reprojection_error_px": 0.8145036994806192,
"confidence": 0.25489120456317976
},
{
"marker_id": 208,
"observed_center_px": [
477.5,
605.25
],
"projected_center_px": [
483.0917053222656,
595.4297485351562
],
"reprojection_error_px": 11.30064189521195,
"confidence": 0.5592585450018642
},
{
"marker_id": 68,
"observed_center_px": [
32.75,
650.75
],
"projected_center_px": [
32.99158477783203,
647.49365234375
],
"reprojection_error_px": 3.265296810895607,
"confidence": 0.10851782362904303
},
{
"marker_id": 95,
"observed_center_px": [
799.25,
602.25
],
"projected_center_px": [
796.5905151367188,
601.0611572265625
],
"reprojection_error_px": 2.9131094860949966,
"confidence": 0.5169030981045668
},
{
"marker_id": 66,
"observed_center_px": [
856.75,
509.0
],
"projected_center_px": [
847.8040161132812,
508.7509460449219
],
"reprojection_error_px": 8.949450015166942,
"confidence": 0.5036491725121419
},
{
"marker_id": 55,
"observed_center_px": [
700.5,
531.0
],
"projected_center_px": [
697.6927490234375,
529.1148071289062
],
"reprojection_error_px": 3.381510048282247,
"confidence": 0.5306273485801539
},
{
"marker_id": 217,
"observed_center_px": [
227.0,
362.0
],
"projected_center_px": [
233.3496551513672,
350.1723327636719
],
"reprojection_error_px": 13.424300085836641,
"confidence": 0.42765819396972654
},
{
"marker_id": 97,
"observed_center_px": [
768.25,
437.0
],
"projected_center_px": [
759.9761962890625,
436.84722900390625
],
"reprojection_error_px": 8.275214004747589,
"confidence": 0.4770832099303063
},
{
"marker_id": 47,
"observed_center_px": [
668.5,
463.5
],
"projected_center_px": [
664.6365356445312,
461.6287536621094
],
"reprojection_error_px": 4.292775289139491,
"confidence": 0.5046753915740128
},
{
"marker_id": 54,
"observed_center_px": [
709.25,
430.25
],
"projected_center_px": [
703.0721435546875,
429.5157775878906
],
"reprojection_error_px": 6.221333684133404,
"confidence": 0.48044802302553946
},
{
"marker_id": 205,
"observed_center_px": [
149.5,
287.0
],
"projected_center_px": [
157.03260803222656,
275.2257080078125
],
"reprojection_error_px": 13.977629830713603,
"confidence": 0.37983708259950827
},
{
"marker_id": 92,
"observed_center_px": [
327.25,
312.0
],
"projected_center_px": [
329.4297790527344,
308.7106628417969
],
"reprojection_error_px": 3.946032901418256,
"confidence": 0.4022491322386975
},
{
"marker_id": 105,
"observed_center_px": [
497.75,
340.75
],
"projected_center_px": [
495.96221923828125,
339.0134582519531
],
"reprojection_error_px": 2.4923357106700874,
"confidence": 0.4159799246492322
},
{
"marker_id": 102,
"observed_center_px": [
358.75,
281.0
],
"projected_center_px": [
359.9056701660156,
278.7539367675781
],
"reprojection_error_px": 2.525940137187733,
"confidence": 0.40369943799637525
},
{
"marker_id": 85,
"observed_center_px": [
556.0,
321.25
],
"projected_center_px": [
551.891845703125,
320.8056945800781
],
"reprojection_error_px": 4.132110723722741,
"confidence": 0.3811333266788848
},
{
"marker_id": 59,
"observed_center_px": [
427.5,
258.0
],
"projected_center_px": [
426.53265380859375,
257.2494812011719
],
"reprojection_error_px": 1.2243517147546243,
"confidence": 0.40503361354029466
},
{
"marker_id": 63,
"observed_center_px": [
273.25,
182.0
],
"projected_center_px": [
275.837890625,
181.2162322998047
],
"reprojection_error_px": 2.7039729463943125,
"confidence": 0.3570061701664598
},
{
"marker_id": 57,
"observed_center_px": [
520.5,
214.0
],
"projected_center_px": [
516.2708740234375,
216.48770141601562
],
"reprojection_error_px": 4.906543066241431,
"confidence": 0.3794817963241243
},
{
"marker_id": 71,
"observed_center_px": [
336.5,
168.0
],
"projected_center_px": [
337.6727294921875,
169.01715087890625
],
"reprojection_error_px": 1.552382160521728,
"confidence": 0.33715640885841447
},
{
"marker_id": 48,
"observed_center_px": [
415.75,
184.75
],
"projected_center_px": [
414.4145202636719,
186.4226531982422
],
"reprojection_error_px": 2.140391283792021,
"confidence": 0.37002407289138056
},
{
"marker_id": 65,
"observed_center_px": [
308.25,
123.0
],
"projected_center_px": [
309.95440673828125,
125.2011489868164
],
"reprojection_error_px": 2.783892812530939,
"confidence": 0.3320649522984733
},
{
"marker_id": 87,
"observed_center_px": [
161.0,
65.0
],
"projected_center_px": [
166.7536163330078,
66.73542022705078
],
"reprojection_error_px": 6.009640943676357,
"confidence": 0.33383204999036237
},
{
"marker_id": 78,
"observed_center_px": [
334.75,
79.0
],
"projected_center_px": [
335.4161376953125,
83.8255615234375
],
"reprojection_error_px": 4.8713225561028795,
"confidence": 0.33383204999036237
},
{
"marker_id": 80,
"observed_center_px": [
298.0,
58.5
],
"projected_center_px": [
299.5746154785156,
63.377777099609375
],
"reprojection_error_px": 5.125633945050567,
"confidence": 0.2761672244399736
}
]
},
"qa": {
"sanity_notes": []
}
}