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

593 lines
14 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T09:26:19Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\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": [
[
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": 28,
"used_marker_ids": [
86,
64,
215,
72,
69,
53,
58,
208,
56,
46,
103,
95,
55,
66,
217,
54,
97,
205,
85,
102,
92,
59,
71,
48,
63,
65,
87,
80
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.012561743652089249,
0.0016163824690195745,
0.0011314931341719165,
0.001131465131118967
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.2011116866033635,
"residual_median_px": 2.8670419097059026,
"residual_max_px": 5.424280107490077,
"sigma2_normalized": 1.43383894380325e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7072362899780273,
-0.7069751024246216,
0.0017388755222782493
],
[
-0.640158474445343,
0.6393473744392395,
-0.4259484112262726
],
[
0.3000231683254242,
-0.30235934257507324,
-0.9047457575798035
]
],
"translation_m": [
0.0006081345491111279,
0.3322913348674774,
1.3839123249053955
],
"rvec_rad": [
1.1155029206880251,
-2.69228493407687,
0.6030800829828753
]
},
"camera_in_world": {
"position_m": [
-0.20205654203891754,
0.2064191699028015,
1.3936266899108887
],
"position_mm": [
-202.05654907226562,
206.41917419433594,
1393.626708984375
],
"orientation_deg": {
"roll": -161.52073669433594,
"pitch": -17.458993911743164,
"yaw": -137.85000610351562
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.618303632309994e-06,
-6.815872421889105e-06,
5.844662550438605e-06,
4.555428981302671e-07,
1.0770603345080526e-06,
4.4957986898024816e-06
],
[
-6.815872421889151e-06,
1.908399411522487e-05,
-1.4071917254239678e-05,
-3.0542225001256965e-06,
-1.6046686208625145e-06,
-1.0989567545186646e-05
],
[
5.844662550438666e-06,
-1.4071917254239526e-05,
5.558889778210306e-05,
5.255595481041318e-06,
-2.97215930012512e-06,
8.082256703299737e-08
],
[
4.5554289813027885e-07,
-3.0542225001256927e-06,
5.2555954810413565e-06,
1.0213468586622862e-06,
-1.400119917717199e-07,
6.496876772866667e-07
],
[
1.077060334508055e-06,
-1.604668620862531e-06,
-2.972159300125105e-06,
-1.4001199177171546e-07,
7.51690771915595e-07,
1.7516096502846668e-06
],
[
4.495798689802506e-06,
-1.0989567545186672e-05,
8.082256703313794e-08,
6.496876772866801e-07,
1.7516096502846608e-06,
1.1157986283344102e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.13580796309657728,
0.2502979365976615,
0.42718565826727106
],
"tvec_std_m": [
0.001010617068261904,
0.0008670010218653695,
0.0033403572089439927
]
},
"camera_center_std_m": [
0.006015252866511974,
0.00891007897445108,
0.004493905135422485
],
"camera_center_std_mm": [
6.0152528665119736,
8.91007897445108,
4.4939051354224855
],
"orientation_std_deg": {
"roll": 0.26328696937523083,
"pitch": 0.24747218468240606,
"yaw": 0.11283610096151622
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
70.5,
958.75
],
"projected_center_px": [
72.53253173828125,
955.8460083007812
],
"reprojection_error_px": 3.5446231190709123,
"confidence": 0.5575992832021898
},
{
"marker_id": 64,
"observed_center_px": [
921.75,
859.0
],
"projected_center_px": [
922.4539794921875,
862.7168579101562
],
"reprojection_error_px": 3.782937991787819,
"confidence": 0.616540888528013
},
{
"marker_id": 215,
"observed_center_px": [
567.0,
692.5
],
"projected_center_px": [
568.231201171875,
691.8600463867188
],
"reprojection_error_px": 1.3875867370287527,
"confidence": 0.4424958960552566
},
{
"marker_id": 72,
"observed_center_px": [
115.75,
787.5
],
"projected_center_px": [
114.72067260742188,
788.7645263671875
],
"reprojection_error_px": 1.6305035462776822,
"confidence": 0.4975235789090466
},
{
"marker_id": 69,
"observed_center_px": [
977.0,
755.0
],
"projected_center_px": [
977.819091796875,
750.5571899414062
],
"reprojection_error_px": 4.517684427718443,
"confidence": 0.5873934926369923
},
{
"marker_id": 53,
"observed_center_px": [
54.75,
764.5
],
"projected_center_px": [
57.99109649658203,
763.926025390625
],
"reprojection_error_px": 3.291527510497748,
"confidence": 0.3317064405086114
},
{
"marker_id": 58,
"observed_center_px": [
880.5,
773.0
],
"projected_center_px": [
878.9620361328125,
769.0654907226562
],
"reprojection_error_px": 4.2244166591706325,
"confidence": 0.5891897879835948
},
{
"marker_id": 208,
"observed_center_px": [
475.0,
603.5
],
"projected_center_px": [
478.2018127441406,
604.4447021484375
],
"reprojection_error_px": 3.338273056207917,
"confidence": 0.5365098825483792
},
{
"marker_id": 56,
"observed_center_px": [
97.5,
709.5
],
"projected_center_px": [
94.76349639892578,
713.7679443359375
],
"reprojection_error_px": 5.069891597791136,
"confidence": 0.509707248070139
},
{
"marker_id": 46,
"observed_center_px": [
51.5,
694.75
],
"projected_center_px": [
46.084373474121094,
695.0562744140625
],
"reprojection_error_px": 5.424280107490077,
"confidence": 0.290584867175275
},
{
"marker_id": 103,
"observed_center_px": [
801.5,
744.5
],
"projected_center_px": [
797.1474609375,
746.2955322265625
],
"reprojection_error_px": 4.708347084403705,
"confidence": 0.5886722764049094
},
{
"marker_id": 95,
"observed_center_px": [
802.5,
599.0
],
"projected_center_px": [
800.06884765625,
601.823974609375
],
"reprojection_error_px": 3.726303035572362,
"confidence": 0.5086613910190547
},
{
"marker_id": 55,
"observed_center_px": [
699.0,
531.75
],
"projected_center_px": [
700.9326782226562,
530.701171875
],
"reprojection_error_px": 2.1989282726184447,
"confidence": 0.5054980739107272
},
{
"marker_id": 66,
"observed_center_px": [
857.5,
508.5
],
"projected_center_px": [
856.6405029296875,
509.2656555175781
],
"reprojection_error_px": 1.1510706257539531,
"confidence": 0.5046753915740128
},
{
"marker_id": 217,
"observed_center_px": [
229.25,
365.25
],
"projected_center_px": [
227.83612060546875,
361.5851135253906
],
"reprojection_error_px": 3.928160869166993,
"confidence": 0.4158618894065431
},
{
"marker_id": 54,
"observed_center_px": [
709.5,
434.5
],
"projected_center_px": [
709.6185913085938,
430.4962463378906
],
"reprojection_error_px": 4.005509616182216,
"confidence": 0.47669546512195393
},
{
"marker_id": 97,
"observed_center_px": [
766.0,
436.5
],
"projected_center_px": [
768.2981567382812,
437.37957763671875
],
"reprojection_error_px": 2.4607277811093318,
"confidence": 0.45270011191053483
},
{
"marker_id": 205,
"observed_center_px": [
148.0,
285.0
],
"projected_center_px": [
150.280517578125,
286.4183654785156
],
"reprojection_error_px": 2.685613720322037,
"confidence": 0.38107014005487916
},
{
"marker_id": 85,
"observed_center_px": [
556.0,
319.5
],
"projected_center_px": [
556.3596801757812,
321.56689453125
],
"reprojection_error_px": 2.0979568232356898,
"confidence": 0.40168081794344246
},
{
"marker_id": 102,
"observed_center_px": [
359.0,
279.75
],
"projected_center_px": [
359.6034851074219,
281.0721435546875
],
"reprojection_error_px": 1.453360882259355,
"confidence": 0.36215529762078374
},
{
"marker_id": 92,
"observed_center_px": [
329.0,
309.25
],
"projected_center_px": [
328.24249267578125,
312.03265380859375
],
"reprojection_error_px": 2.8839173990817337,
"confidence": 0.36117119671607356
},
{
"marker_id": 59,
"observed_center_px": [
425.0,
258.5
],
"projected_center_px": [
428.2326354980469,
258.0950012207031
],
"reprojection_error_px": 3.2579067320082578,
"confidence": 0.3829018389079366
},
{
"marker_id": 71,
"observed_center_px": [
337.0,
166.0
],
"projected_center_px": [
337.52728271484375,
168.32102966308594
],
"reprojection_error_px": 2.3801692709338584,
"confidence": 0.3408600931480542
},
{
"marker_id": 48,
"observed_center_px": [
415.5,
187.75
],
"projected_center_px": [
416.590087890625,
185.1165313720703
],
"reprojection_error_px": 2.8501664203300714,
"confidence": 0.3384322903762507
},
{
"marker_id": 63,
"observed_center_px": [
275.5,
183.5
],
"projected_center_px": [
273.87469482421875,
181.97755432128906
],
"reprojection_error_px": 2.226984005116994,
"confidence": 0.3375471143770103
},
{
"marker_id": 65,
"observed_center_px": [
310.5,
124.5
],
"projected_center_px": [
309.15228271484375,
123.18411254882812
],
"reprojection_error_px": 1.8835874455040698,
"confidence": 0.3375471143770103
},
{
"marker_id": 87,
"observed_center_px": [
161.0,
66.0
],
"projected_center_px": [
161.47378540039062,
64.667236328125
],
"reprojection_error_px": 1.4144722021634208,
"confidence": 0.3158166687011719
},
{
"marker_id": 80,
"observed_center_px": [
299.0,
56.75
],
"projected_center_px": [
298.6283874511719,
58.556793212890625
],
"reprojection_error_px": 1.8446131303322555,
"confidence": 0.2485923429199218
}
]
},
"qa": {
"sanity_notes": []
}
}