Files
appRobotRender/data/evaluations/Scene8/render_g_camera_pose_v8.json
2026-06-01 20:47:39 +02:00

597 lines
14 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_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "g",
"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": 28,
"used_marker_ids": [
84,
64,
72,
53,
58,
69,
103,
56,
215,
46,
68,
208,
95,
55,
66,
217,
97,
54,
205,
92,
105,
85,
102,
59,
48,
57,
63,
71
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.008380596797804013,
0.0005410758584715768,
8.709259916235042e-05,
8.70385355675932e-05,
8.703853441047451e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.2188329588756622,
"residual_median_px": 0.17794355789098962,
"residual_max_px": 0.4241965193657976,
"sigma2_normalized": 8.484791248994484e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7071990370750427,
-0.707014262676239,
0.0005838429206050932
],
[
-0.6415448188781738,
0.6413649320602417,
-0.4207983911037445
],
[
0.29713600873947144,
-0.2979627847671509,
-0.9071540236473083
]
],
"translation_m": [
-0.0003611890118904548,
0.33642428752059383,
1.3986704541566517
],
"rvec_rad": [
1.1162839608628714,
-2.694954763187016,
0.5949621099248436
]
},
"camera_in_world": {
"position_m": [
-0.20001953098363734,
0.20072560979846057,
1.410376467533618
],
"position_mm": [
-200.01953098363734,
200.72560979846057,
1410.3764675336179
],
"orientation_deg": {
"roll": -161.81675720214844,
"pitch": -17.285663604736328,
"yaw": -137.78683471679688
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.9202614266929536e-08,
-5.624758064579657e-08,
1.9002092979602563e-08,
3.677793045991329e-09,
9.642384554519452e-09,
3.500057257207911e-08
],
[
-5.624758064579686e-08,
1.7730001193758587e-07,
-8.799489872535942e-08,
-2.7037218009021926e-08,
-1.6119859220649852e-08,
-9.32896875306131e-08
],
[
1.9002092979602557e-08,
-8.799489872535837e-08,
3.322018445588287e-07,
3.421511111216491e-08,
-1.9357076042169092e-08,
2.3056213184165007e-09
],
[
3.6777930459913576e-09,
-2.7037218009021913e-08,
3.4215111112165093e-08,
7.574076973655562e-09,
-2.5214832959351115e-10,
7.570328774670964e-09
],
[
9.642384554519472e-09,
-1.611985922064988e-08,
-1.9357076042168993e-08,
-2.5214832959349947e-10,
5.455720841232948e-09,
1.33187555209256e-08
],
[
3.5000572572079415e-08,
-9.328968753061321e-08,
2.3056213184173316e-09,
7.570328774670982e-09,
1.3318755520925603e-08,
7.751291617219285e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.011344363845211298,
0.024125538440537754,
0.03302354197846344
],
"tvec_std_m": [
8.702917311830304e-05,
7.38628515644566e-05,
0.00027841141530510715
]
},
"camera_center_std_m": [
0.0006001213331363563,
0.0007005844631310261,
0.00037386586549212754
],
"camera_center_std_mm": [
0.6001213331363563,
0.7005844631310261,
0.3738658654921275
],
"orientation_std_deg": {
"roll": 0.020799509337956407,
"pitch": 0.024459922187381827,
"yaw": 0.011530363449194381
}
}
},
"observations": {
"markers": [
{
"marker_id": 84,
"observed_center_px": [
65.25,
662.0
],
"projected_center_px": [
65.15103149414062,
661.9536743164062
],
"reprojection_error_px": 0.10927412370943719,
"confidence": 0.3490767193505014
},
{
"marker_id": 64,
"observed_center_px": [
819.5,
647.0
],
"projected_center_px": [
819.5327758789062,
646.9321899414062
],
"reprojection_error_px": 0.07531575057426548,
"confidence": 0.5331747682067169
},
{
"marker_id": 72,
"observed_center_px": [
102.25,
581.0
],
"projected_center_px": [
102.25408935546875,
581.1792602539062
],
"reprojection_error_px": 0.17930689183264265,
"confidence": 0.43254677700170213
},
{
"marker_id": 53,
"observed_center_px": [
52.0,
559.0
],
"projected_center_px": [
52.02786636352539,
559.1117553710938
],
"reprojection_error_px": 0.11517724247624178,
"confidence": 0.27711751756945874
},
{
"marker_id": 58,
"observed_center_px": [
781.0,
564.0
],
"projected_center_px": [
780.9808349609375,
563.824462890625
],
"reprojection_error_px": 0.1765802239493366,
"confidence": 0.48073279309443956
},
{
"marker_id": 69,
"observed_center_px": [
869.0,
547.5
],
"projected_center_px": [
868.9163208007812,
547.3129272460938
],
"reprojection_error_px": 0.20493516934864944,
"confidence": 0.45546210617301425
},
{
"marker_id": 103,
"observed_center_px": [
708.25,
543.5
],
"projected_center_px": [
708.2188720703125,
543.635986328125
],
"reprojection_error_px": 0.139503510506188,
"confidence": 0.4795917219326271
},
{
"marker_id": 56,
"observed_center_px": [
84.25,
514.75
],
"projected_center_px": [
84.41259765625,
514.6609497070312
],
"reprojection_error_px": 0.185385955497749,
"confidence": 0.39662908657084783
},
{
"marker_id": 215,
"observed_center_px": [
504.5,
495.5
],
"projected_center_px": [
504.49505615234375,
495.4730224609375
],
"reprojection_error_px": 0.027426797908558738,
"confidence": 0.39338762460270227
},
{
"marker_id": 46,
"observed_center_px": [
41.5,
498.0
],
"projected_center_px": [
41.32355880737305,
498.03680419921875
],
"reprojection_error_px": 0.18023885134941084,
"confidence": 0.1698001278724927
},
{
"marker_id": 68,
"observed_center_px": [
29.25,
458.0
],
"projected_center_px": [
29.114898681640625,
458.09796142578125
],
"reprojection_error_px": 0.16687961877813764,
"confidence": 0.07718187630567852
},
{
"marker_id": 208,
"observed_center_px": [
424.5,
417.75
],
"projected_center_px": [
424.3829650878906,
417.7440185546875
],
"reprojection_error_px": 0.11718766291924913,
"confidence": 0.4316478958478293
},
{
"marker_id": 95,
"observed_center_px": [
710.75,
415.25
],
"projected_center_px": [
710.908203125,
415.144775390625
],
"reprojection_error_px": 0.19000117678026882,
"confidence": 0.4181682027393045
},
{
"marker_id": 55,
"observed_center_px": [
622.75,
351.75
],
"projected_center_px": [
622.661376953125,
351.86688232421875
],
"reprojection_error_px": 0.14668170353587198,
"confidence": 0.39668368657567366
},
{
"marker_id": 66,
"observed_center_px": [
761.5,
332.5
],
"projected_center_px": [
761.3377075195312,
332.7164611816406
],
"reprojection_error_px": 0.2705444369673035,
"confidence": 0.3829765144945479
},
{
"marker_id": 217,
"observed_center_px": [
201.5,
202.0
],
"projected_center_px": [
201.80841064453125,
201.79034423828125
],
"reprojection_error_px": 0.37292447503757425,
"confidence": 0.3382587531306593
},
{
"marker_id": 97,
"observed_center_px": [
682.75,
268.75
],
"projected_center_px": [
682.692138671875,
268.71795654296875
],
"reprojection_error_px": 0.06614163916098906,
"confidence": 0.3623898971459892
},
{
"marker_id": 54,
"observed_center_px": [
630.25,
262.5
],
"projected_center_px": [
630.4234008789062,
262.6108703613281
],
"reprojection_error_px": 0.20581569868814423,
"confidence": 0.3590718541167963
},
{
"marker_id": 205,
"observed_center_px": [
133.0,
135.0
],
"projected_center_px": [
133.00042724609375,
135.02919006347656
],
"reprojection_error_px": 0.029193190044775386,
"confidence": 0.29591817114314195
},
{
"marker_id": 92,
"observed_center_px": [
291.0,
157.0
],
"projected_center_px": [
291.0001220703125,
157.40155029296875
],
"reprojection_error_px": 0.40155031152328863,
"confidence": 0.3158166687011719
},
{
"marker_id": 105,
"observed_center_px": [
442.5,
182.75
],
"projected_center_px": [
442.3433837890625,
182.87738037109375
],
"reprojection_error_px": 0.20187718164369384,
"confidence": 0.31800273344664126
},
{
"marker_id": 85,
"observed_center_px": [
494.0,
166.0
],
"projected_center_px": [
493.9403076171875,
165.65689086914062
],
"reprojection_error_px": 0.3482629125314807,
"confidence": 0.2969848480224609
},
{
"marker_id": 102,
"observed_center_px": [
318.5,
130.0
],
"projected_center_px": [
318.8728332519531,
129.79766845703125
],
"reprojection_error_px": 0.4241965193657976,
"confidence": 0.3170967427530611
},
{
"marker_id": 59,
"observed_center_px": [
379.75,
109.0
],
"projected_center_px": [
379.90716552734375,
109.25081634521484
],
"reprojection_error_px": 0.29598959781075196,
"confidence": 0.3170967427530611
},
{
"marker_id": 48,
"observed_center_px": [
369.5,
44.25
],
"projected_center_px": [
369.56671142578125,
44.28301239013672
],
"reprojection_error_px": 0.0744327362946315,
"confidence": 0.17828567290874034
},
{
"marker_id": 57,
"observed_center_px": [
463.0,
70.5
],
"projected_center_px": [
463.0251770019531,
70.45142364501953
],
"reprojection_error_px": 0.054713286234114755,
"confidence": 0.3167426670523156
},
{
"marker_id": 63,
"observed_center_px": [
243.0,
42.0
],
"projected_center_px": [
242.71270751953125,
41.72708511352539
],
"reprojection_error_px": 0.3962568669352444,
"confidence": 0.15449597168691093
},
{
"marker_id": 71,
"observed_center_px": [
299.25,
29.5
],
"projected_center_px": [
299.2705383300781,
29.458524703979492
],
"reprojection_error_px": 0.04628199630943727,
"confidence": 0.08171792300897739
}
]
},
"qa": {
"sanity_notes": []
},
"v8_z_correction_mm": 11.151935468550299
}