Files
appRobotRender/data/evaluations/Scene8/render_b_camera_pose.json
2026-06-02 11:37:29 +02:00

789 lines
18 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T09:26:17Z",
"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": [
[
1992.8416748046875,
0.0,
719.249267578125
],
[
0.0,
1997.40380859375,
537.7935791015625
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 42,
"used_marker_ids": [
54,
48,
85,
71,
47,
59,
95,
69,
105,
55,
63,
102,
58,
64,
103,
92,
96,
62,
51,
79,
217,
205,
208,
207,
206,
210,
214,
100,
75,
76,
68,
94,
56,
50,
72,
53,
101,
61,
86,
90,
91,
73
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.011951945754630041,
0.0014634281891487857,
0.0012280560613515267,
0.0012280506797615219
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.4741384875988,
"residual_median_px": 3.352769821826947,
"residual_max_px": 5.818746128142449,
"sigma2_normalized": 1.6241168160526565e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999315142631531,
-0.011205696500837803,
-0.003375931642949581
],
[
-0.010841588489711285,
-0.7783065438270569,
-0.6277908682823181
],
[
0.0044073243625462055,
0.6277844309806824,
-0.7783747315406799
]
],
"translation_m": [
-0.3113016188144684,
0.054891277104616165,
1.4951437711715698
],
"rvec_rad": [
2.462821991756039,
-0.015266924503003484,
0.000714200980785372
]
},
"camera_in_world": {
"position_m": [
0.30528584122657776,
-0.8993940949440002,
1.1971914768218994
],
"position_mm": [
305.28582763671875,
-899.3941040039062,
1197.1915283203125
],
"orientation_deg": {
"roll": 141.11270141601562,
"pitch": -0.25252190232276917,
"yaw": -0.6211954355239868
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
6.329809578638771e-06,
-1.3988956939976733e-07,
3.582508618566226e-07,
1.6784939214944414e-07,
1.2395286515126236e-07,
1.4507943521012035e-06
],
[
-1.3988956939977071e-07,
1.3711010060611678e-06,
-1.2503693378935416e-07,
5.493037640226773e-08,
-4.166349562722802e-07,
1.4034215552666675e-07
],
[
3.5825086185662826e-07,
-1.2503693378935726e-07,
1.1992989774077054e-05,
3.2758734482350765e-07,
-1.3289276930648045e-06,
-4.0475937371577e-06
],
[
1.678493921494437e-07,
5.493037640226824e-08,
3.275873448235053e-07,
1.1203298243479144e-07,
-3.684898556005009e-08,
8.777111446737214e-08
],
[
1.2395286515126355e-07,
-4.1663495627227993e-07,
-1.328927693064805e-06,
-3.684898556005021e-08,
3.8577323102264025e-07,
6.267424979576161e-07
],
[
1.4507943521012043e-06,
1.4034215552666963e-07,
-4.047593737157684e-06,
8.777111446737196e-08,
6.267424979576138e-07,
3.6378119573178315e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.144151098085032,
0.06708993284543585,
0.19842041978074249
],
"tvec_std_m": [
0.00033471328392340724,
0.0006211064570769171,
0.001907304893643864
]
},
"camera_center_std_m": [
0.003946286946908785,
0.0027803290417979768,
0.0029463658439491695
],
"camera_center_std_mm": [
3.9462869469087853,
2.7803290417979767,
2.9463658439491693
],
"orientation_std_deg": {
"roll": 0.1151692786536759,
"pitch": 0.14465323259819818,
"yaw": 0.06893891755832697
}
}
},
"observations": {
"markers": [
{
"marker_id": 54,
"observed_center_px": [
768.75,
1030.25
],
"projected_center_px": [
772.1493530273438,
1034.7406005859375
],
"reprojection_error_px": 5.6321483136484725,
"confidence": 0.48036148275633117
},
{
"marker_id": 48,
"observed_center_px": [
1292.75,
1011.0
],
"projected_center_px": [
1296.83642578125,
1015.142333984375
],
"reprojection_error_px": 5.818746128142449,
"confidence": 0.7417121739938519
},
{
"marker_id": 85,
"observed_center_px": [
1019.5,
1008.0
],
"projected_center_px": [
1016.3531494140625,
1006.729248046875
],
"reprojection_error_px": 3.393741171124603,
"confidence": 0.7268725431169991
},
{
"marker_id": 71,
"observed_center_px": [
1379.5,
964.5
],
"projected_center_px": [
1377.2757568359375,
963.2969360351562
],
"reprojection_error_px": 2.528758698726378,
"confidence": 0.5524482580699143
},
{
"marker_id": 47,
"observed_center_px": [
773.0,
975.25
],
"projected_center_px": [
773.2276000976562,
973.0755615234375
],
"reprojection_error_px": 2.1863175644925374,
"confidence": 0.6936936318943047
},
{
"marker_id": 59,
"observed_center_px": [
1192.75,
955.0
],
"projected_center_px": [
1191.7314453125,
957.9276123046875
],
"reprojection_error_px": 3.099736675588086,
"confidence": 0.6970481504529866
},
{
"marker_id": 95,
"observed_center_px": [
539.5,
963.0
],
"projected_center_px": [
538.1571044921875,
958.9276123046875
],
"reprojection_error_px": 4.288089304787815,
"confidence": 0.6815548642491059
},
{
"marker_id": 69,
"observed_center_px": [
270.0,
967.25
],
"projected_center_px": [
271.5577392578125,
972.1220703125
],
"reprojection_error_px": 5.115038682676221,
"confidence": 0.7070249676171251
},
{
"marker_id": 105,
"observed_center_px": [
1036.0,
945.25
],
"projected_center_px": [
1039.0001220703125,
942.6015625
],
"reprojection_error_px": 4.001868766986545,
"confidence": 0.6628179380059231
},
{
"marker_id": 55,
"observed_center_px": [
684.75,
939.5
],
"projected_center_px": [
683.0306396484375,
941.67724609375
],
"reprojection_error_px": 2.7742747829432393,
"confidence": 0.6315142857142857
},
{
"marker_id": 63,
"observed_center_px": [
1398.5,
899.5
],
"projected_center_px": [
1402.2584228515625,
899.0742797851562
],
"reprojection_error_px": 3.782456877807572,
"confidence": 0.25266898482070266
},
{
"marker_id": 102,
"observed_center_px": [
1215.0,
884.75
],
"projected_center_px": [
1212.7091064453125,
883.8527221679688
],
"reprojection_error_px": 2.4603456640812547,
"confidence": 0.6139459702245773
},
{
"marker_id": 58,
"observed_center_px": [
341.5,
885.5
],
"projected_center_px": [
345.1347961425781,
887.49072265625
],
"reprojection_error_px": 4.14423933819077,
"confidence": 0.6009591871477837
},
{
"marker_id": 64,
"observed_center_px": [
250.75,
852.25
],
"projected_center_px": [
247.62869262695312,
850.8028564453125
],
"reprojection_error_px": 3.4404627864446313,
"confidence": 0.5718240495943555
},
{
"marker_id": 103,
"observed_center_px": [
428.0,
852.0
],
"projected_center_px": [
429.25396728515625,
847.8533935546875
],
"reprojection_error_px": 4.332064053606468,
"confidence": 0.560616051364006
},
{
"marker_id": 92,
"observed_center_px": [
1199.5,
838.5
],
"projected_center_px": [
1197.03857421875,
835.6072387695312
],
"reprojection_error_px": 3.798247545000885,
"confidence": 0.5725409164428711
},
{
"marker_id": 96,
"observed_center_px": [
808.25,
839.5
],
"projected_center_px": [
805.5307006835938,
841.8677368164062
],
"reprojection_error_px": 3.6056575550061742,
"confidence": 0.5527499110464955
},
{
"marker_id": 62,
"observed_center_px": [
850.25,
824.75
],
"projected_center_px": [
854.35498046875,
827.1763305664062
],
"reprojection_error_px": 4.768432097272251,
"confidence": 0.5314910661074115
},
{
"marker_id": 51,
"observed_center_px": [
519.25,
829.25
],
"projected_center_px": [
519.0191650390625,
827.3414306640625
],
"reprojection_error_px": 1.9224780074871928,
"confidence": 0.5276385941813627
},
{
"marker_id": 79,
"observed_center_px": [
722.25,
810.0
],
"projected_center_px": [
723.2593383789062,
809.0442504882812
],
"reprojection_error_px": 1.3900435576929688,
"confidence": 0.5149803921568628
},
{
"marker_id": 217,
"observed_center_px": [
1184.5,
700.5
],
"projected_center_px": [
1189.4632568359375,
701.1107177734375
],
"reprojection_error_px": 5.000689414298071,
"confidence": 0.47685424232482904
},
{
"marker_id": 205,
"observed_center_px": [
1332.25,
700.5
],
"projected_center_px": [
1328.120849609375,
699.6678466796875
],
"reprojection_error_px": 4.21216833672465,
"confidence": 0.49031215147538615
},
{
"marker_id": 208,
"observed_center_px": [
778.0,
704.75
],
"projected_center_px": [
774.1762084960938,
705.6016235351562
],
"reprojection_error_px": 3.9174793057497634,
"confidence": 0.4461531673319199
},
{
"marker_id": 207,
"observed_center_px": [
1310.5,
612.5
],
"projected_center_px": [
1306.30029296875,
610.6859130859375
],
"reprojection_error_px": 4.57476234137944,
"confidence": 0.4455856351169093
},
{
"marker_id": 206,
"observed_center_px": [
1173.0,
612.25
],
"projected_center_px": [
1172.351806640625,
612.1137084960938
],
"reprojection_error_px": 0.6623669716817674,
"confidence": 0.43157929088673186
},
{
"marker_id": 210,
"observed_center_px": [
330.75,
632.75
],
"projected_center_px": [
327.6390686035156,
632.2555541992188
],
"reprojection_error_px": 3.1499794925590288,
"confidence": 0.42023766965581094
},
{
"marker_id": 214,
"observed_center_px": [
769.0,
618.5
],
"projected_center_px": [
771.1201782226562,
616.466064453125
],
"reprojection_error_px": 2.9380349733567708,
"confidence": 0.4166666666666667
},
{
"marker_id": 100,
"observed_center_px": [
1320.0,
453.0
],
"projected_center_px": [
1320.1337890625,
450.7490234375
],
"reprojection_error_px": 2.2549490012346056,
"confidence": 0.3086878707216751
},
{
"marker_id": 75,
"observed_center_px": [
304.25,
442.5
],
"projected_center_px": [
306.44940185546875,
441.236328125
],
"reprojection_error_px": 2.5365794151781245,
"confidence": 0.2918644196082806
},
{
"marker_id": 76,
"observed_center_px": [
1177.75,
455.5
],
"projected_center_px": [
1176.2861328125,
457.4991149902344
],
"reprojection_error_px": 2.4777747853303667,
"confidence": 0.2918644196082806
},
{
"marker_id": 68,
"observed_center_px": [
1041.0,
453.0
],
"projected_center_px": [
1038.7685546875,
455.4471740722656
],
"reprojection_error_px": 3.311798472529291,
"confidence": 0.30112978678604324
},
{
"marker_id": 94,
"observed_center_px": [
1405.25,
447.5
],
"projected_center_px": [
1408.81982421875,
448.5660095214844
],
"reprojection_error_px": 3.7255900542960165,
"confidence": 0.10685580997467042
},
{
"marker_id": 56,
"observed_center_px": [
949.75,
461.75
],
"projected_center_px": [
946.9356689453125,
458.2748107910156
],
"reprojection_error_px": 4.471845181087993,
"confidence": 0.27204531918123787
},
{
"marker_id": 50,
"observed_center_px": [
1030.25,
418.25
],
"projected_center_px": [
1032.8255615234375,
417.9267272949219
],
"reprojection_error_px": 2.595770098229083,
"confidence": 0.2744436567045554
},
{
"marker_id": 72,
"observed_center_px": [
875.5,
436.5
],
"projected_center_px": [
874.2648315429688,
435.50054931640625
],
"reprojection_error_px": 1.588880985530689,
"confidence": 0.27092182118612373
},
{
"marker_id": 53,
"observed_center_px": [
930.5,
416.5
],
"projected_center_px": [
927.5830688476562,
418.7339172363281
],
"reprojection_error_px": 3.674081322763192,
"confidence": 0.27092182118612373
},
{
"marker_id": 101,
"observed_center_px": [
485.25,
346.5
],
"projected_center_px": [
488.9681701660156,
348.2183837890625
],
"reprojection_error_px": 4.096050809006336,
"confidence": 0.26149995226724243
},
{
"marker_id": 61,
"observed_center_px": [
329.75,
320.25
],
"projected_center_px": [
329.5697937011719,
318.880615234375
],
"reprojection_error_px": 1.3811911332118982,
"confidence": 0.21826812348812702
},
{
"marker_id": 86,
"observed_center_px": [
775.25,
347.75
],
"projected_center_px": [
775.9343872070312,
350.8775329589844
],
"reprojection_error_px": 3.201538420616188,
"confidence": 0.21869384638468425
},
{
"marker_id": 90,
"observed_center_px": [
1100.0,
325.75
],
"projected_center_px": [
1100.533447265625,
326.88714599609375
],
"reprojection_error_px": 1.256052149249718,
"confidence": 0.253222839086839
},
{
"marker_id": 91,
"observed_center_px": [
1190.75,
316.75
],
"projected_center_px": [
1191.557373046875,
316.2501525878906
],
"reprojection_error_px": 0.9495781548733419,
"confidence": 0.2270211108947793
},
{
"marker_id": 73,
"observed_center_px": [
612.0,
319.75
],
"projected_center_px": [
611.6075439453125,
318.3360900878906
],
"reprojection_error_px": 1.46736600561074,
"confidence": 0.22241238714409198
}
]
},
"qa": {
"sanity_notes": []
}
}