Files
appRobotRender/data/evaluations/Scene8/render_a_camera_pose_v8.json
2026-06-01 20:47:39 +02:00

454 lines
10 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T18:37:02Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "a",
"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": 18,
"used_marker_ids": [
47,
210,
85,
79,
96,
62,
105,
75,
102,
92,
217,
61,
83,
206,
207,
84,
86,
93
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.013441296790671579,
0.0009558010419370985,
8.508680576429123e-05,
8.500249149030952e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.2137082535265442,
"residual_median_px": 0.17923585982646273,
"residual_max_px": 0.3627677590402337,
"sigma2_normalized": 8.67050826886587e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.808061420917511,
-0.5890982151031494,
0.00016743359446991235
],
[
-0.3431582450866699,
-0.47093844413757324,
-0.812686562538147
],
[
0.47883105278015137,
0.6566431522369385,
-0.5827010869979858
]
],
"translation_m": [
-0.2288931196113117,
0.17983708427797915,
1.141144257462032
],
"rvec_rad": [
2.1062721704584626,
-0.6861604143367729,
0.3525529851457585
]
},
"camera_in_world": {
"position_m": [
-0.29974303527305857,
-0.7994729557751761,
0.8111355085080784
],
"position_mm": [
-299.7430352730586,
-799.472955775176,
811.1355085080784
],
"orientation_deg": {
"roll": 131.5856475830078,
"pitch": -28.60908317565918,
"yaw": -23.009401321411133
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.619516113690007e-08,
-1.397013616170484e-08,
6.77165387146007e-10,
2.6255328604640674e-09,
6.9221642875853046e-09,
1.1551146891620539e-08
],
[
-1.397013616170492e-08,
2.1346982374784157e-08,
-1.0945260787939212e-08,
-5.056690816415971e-09,
-5.392222017373122e-09,
-1.0216059919932632e-09
],
[
6.771653871460158e-10,
-1.0945260787939108e-08,
5.758944809931949e-08,
9.452206570751754e-09,
-5.2965880605660184e-09,
-1.2892253725614578e-08
],
[
2.625532860464083e-09,
-5.056690816415959e-09,
9.452206570751771e-09,
3.05558688629712e-09,
3.175839917780105e-10,
-1.0899016346683564e-10
],
[
6.922164287585328e-09,
-5.392222017373144e-09,
-5.296588060565982e-09,
3.175839917780176e-10,
3.66582146497886e-09,
3.97012482221086e-09
],
[
1.1551146891620583e-08,
-1.0216059919933101e-09,
-1.2892253725614462e-08,
-1.089901634668158e-10,
3.970124822210858e-09,
2.1045876808511416e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.012314616044360916,
0.008371260914195077,
0.013749727485085577
],
"tvec_std_m": [
5.5277363235750675e-05,
6.054602765647685e-05,
0.0001450719711333358
]
},
"camera_center_std_m": [
0.00023994135596817505,
0.00024214683459045368,
0.0002648537946420537
],
"camera_center_std_mm": [
0.23994135596817504,
0.2421468345904537,
0.2648537946420537
],
"orientation_std_deg": {
"roll": 0.01717226512443145,
"pitch": 0.011125285518906196,
"yaw": 0.008426889172714924
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"observed_center_px": [
984.25,
690.75
],
"projected_center_px": [
983.9130859375,
690.8455810546875
],
"reprojection_error_px": 0.3502096850822786,
"confidence": 0.12146268776527554
},
{
"marker_id": 210,
"observed_center_px": [
324.0,
632.0
],
"projected_center_px": [
324.11334228515625,
632.0877685546875
],
"reprojection_error_px": 0.14335198916085318,
"confidence": 0.46829700346999537
},
{
"marker_id": 85,
"observed_center_px": [
1183.75,
610.25
],
"projected_center_px": [
1183.8746337890625,
610.302978515625
],
"reprojection_error_px": 0.13542638034705098,
"confidence": 0.4560525484643318
},
{
"marker_id": 79,
"observed_center_px": [
814.0,
599.0
],
"projected_center_px": [
814.25634765625,
598.981689453125
],
"reprojection_error_px": 0.25700077235629026,
"confidence": 0.5734281513866332
},
{
"marker_id": 96,
"observed_center_px": [
905.25,
587.25
],
"projected_center_px": [
905.1751708984375,
587.0191650390625
],
"reprojection_error_px": 0.24266061409233286,
"confidence": 0.525542829627259
},
{
"marker_id": 62,
"observed_center_px": [
931.0,
557.5
],
"projected_center_px": [
931.0681762695312,
557.4588012695312
],
"reprojection_error_px": 0.07965763691846725,
"confidence": 0.5038606541951498
},
{
"marker_id": 105,
"observed_center_px": [
1150.25,
560.25
],
"projected_center_px": [
1150.072021484375,
560.2947387695312
],
"reprojection_error_px": 0.1835154203963489,
"confidence": 0.43622925667631085
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
514.75
],
"projected_center_px": [
128.4539031982422,
514.6677856445312
],
"reprojection_error_px": 0.09425558539121726,
"confidence": 0.29844141482805986
},
{
"marker_id": 102,
"observed_center_px": [
1217.75,
461.5
],
"projected_center_px": [
1217.802001953125,
461.4224853515625
],
"reprojection_error_px": 0.0933419726125601,
"confidence": 0.2521714913889437
},
{
"marker_id": 92,
"observed_center_px": [
1173.25,
437.75
],
"projected_center_px": [
1173.1270751953125,
437.9108581542969
],
"reprojection_error_px": 0.20244963178839637,
"confidence": 0.31777455864589965
},
{
"marker_id": 217,
"observed_center_px": [
1087.75,
347.0
],
"projected_center_px": [
1087.92431640625,
347.0018310546875
],
"reprojection_error_px": 0.17432602286860002,
"confidence": 0.3029173397022545
},
{
"marker_id": 61,
"observed_center_px": [
58.5,
415.5
],
"projected_center_px": [
58.642295837402344,
415.5400390625
],
"reprojection_error_px": 0.1478216217875895,
"confidence": 0.1527342148240039
},
{
"marker_id": 83,
"observed_center_px": [
139.0,
383.0
],
"projected_center_px": [
138.90614318847656,
383.0179748535156
],
"reprojection_error_px": 0.095562526276016,
"confidence": 0.19743498130596515
},
{
"marker_id": 206,
"observed_center_px": [
1013.0,
301.0
],
"projected_center_px": [
1013.3571166992188,
300.93621826171875
],
"reprojection_error_px": 0.3627677590402337,
"confidence": 0.2849187633475991
},
{
"marker_id": 207,
"observed_center_px": [
1098.0,
262.0
],
"projected_center_px": [
1097.9405517578125,
261.8127136230469
],
"reprojection_error_px": 0.196494988463858,
"confidence": 0.24627951083020566
},
{
"marker_id": 84,
"observed_center_px": [
579.25,
279.75
],
"projected_center_px": [
579.1668090820312,
279.55206298828125
],
"reprojection_error_px": 0.21470861519890594,
"confidence": 0.1988568274481309
},
{
"marker_id": 86,
"observed_center_px": [
514.0,
278.75
],
"projected_center_px": [
513.7302856445312,
278.986572265625
],
"reprojection_error_px": 0.358764923604397,
"confidence": 0.17646704338372862
},
{
"marker_id": 93,
"observed_center_px": [
1104.25,
154.5
],
"projected_center_px": [
1104.2188720703125,
154.6721649169922
],
"reprojection_error_px": 0.17495629925657652,
"confidence": 0.15396639291733288
}
]
},
"qa": {
"sanity_notes": []
},
"v8_z_correction_mm": 11.151935468550299
}