285 lines
6.6 KiB
JSON
285 lines
6.6 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:50:08Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\render_d_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "d",
|
|
"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": 6,
|
|
"used_marker_ids": [
|
|
95,
|
|
208,
|
|
69,
|
|
103,
|
|
214,
|
|
64
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.01065315008768167,
|
|
0.0018627032687609378,
|
|
0.001816487731082616,
|
|
0.0018164851606850432
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 5.138839982714276,
|
|
"residual_median_px": 5.373239856211058,
|
|
"residual_max_px": 6.987207006042256,
|
|
"sigma2_normalized": 6.5992366763408485e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8165381550788879,
|
|
0.5772905945777893,
|
|
-0.0009978626621887088
|
|
],
|
|
[
|
|
0.16173036396503448,
|
|
-0.2304152101278305,
|
|
-0.9595583081245422
|
|
],
|
|
[
|
|
-0.5541738867759705,
|
|
0.7833545804023743,
|
|
-0.2815082371234894
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11433468014001846,
|
|
0.087382011115551,
|
|
1.1243213415145874
|
|
],
|
|
"rvec_rad": [
|
|
1.7900248713508526,
|
|
0.5681287116915825,
|
|
-0.42679305913887006
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.7022958397865295,
|
|
-0.7946037650108337,
|
|
0.4002397656440735
|
|
],
|
|
"position_mm": [
|
|
702.2958374023438,
|
|
-794.603759765625,
|
|
400.2397766113281
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.76653289794922,
|
|
"pitch": 33.653831481933594,
|
|
"yaw": 11.203473091125488
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.0003457596404472059,
|
|
6.737629600450968e-05,
|
|
4.09289040050739e-05,
|
|
-5.286234367742436e-06,
|
|
-7.31520113719895e-05,
|
|
-1.2322687613315428e-05
|
|
],
|
|
[
|
|
6.737629600451055e-05,
|
|
0.00010163659344831531,
|
|
-9.021775707995439e-05,
|
|
2.2532333721112753e-05,
|
|
-1.9563202353743613e-05,
|
|
-7.429455642482155e-06
|
|
],
|
|
[
|
|
4.092890400507155e-05,
|
|
-9.021775707995363e-05,
|
|
0.00026720755472870914,
|
|
-4.167476630541058e-05,
|
|
-7.47239607333636e-06,
|
|
9.098241258893163e-06
|
|
],
|
|
[
|
|
-5.2862343677420705e-06,
|
|
2.2532333721112722e-05,
|
|
-4.167476630541076e-05,
|
|
8.864856981121871e-06,
|
|
-2.5481111328898594e-07,
|
|
-3.780019572336374e-06
|
|
],
|
|
[
|
|
-7.315201137198957e-05,
|
|
-1.9563202353743508e-05,
|
|
-7.472396073336716e-06,
|
|
-2.5481111328889933e-07,
|
|
1.782919528175936e-05,
|
|
7.908409303392687e-06
|
|
],
|
|
[
|
|
-1.2322687613315745e-05,
|
|
-7.429455642482215e-06,
|
|
9.098241258893183e-06,
|
|
-3.7800195723362124e-06,
|
|
7.908409303392753e-06,
|
|
2.7406736892702705e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
1.0653928586384767,
|
|
0.5776272624848064,
|
|
0.936584570358981
|
|
],
|
|
"tvec_std_m": [
|
|
0.0029773909688050495,
|
|
0.004222463177075599,
|
|
0.005235144400367836
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.011277735853912818,
|
|
0.01116034424589127,
|
|
0.015836965246208555
|
|
],
|
|
"camera_center_std_mm": [
|
|
11.277735853912818,
|
|
11.16034424589127,
|
|
15.836965246208555
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 1.198189572434124,
|
|
"pitch": 0.8475569597936103,
|
|
"yaw": 0.7101880413334068
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
421.5,
|
|
1048.25
|
|
],
|
|
"projected_center_px": [
|
|
423.5435485839844,
|
|
1045.98779296875
|
|
],
|
|
"reprojection_error_px": 3.048552356011207,
|
|
"confidence": 0.20059440065661768
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1003.5,
|
|
919.75
|
|
],
|
|
"projected_center_px": [
|
|
996.5289306640625,
|
|
920.224609375
|
|
],
|
|
"reprojection_error_px": 6.987207006042256,
|
|
"confidence": 0.5971281121184089
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
128.25,
|
|
929.75
|
|
],
|
|
"projected_center_px": [
|
|
123.96449279785156,
|
|
934.046875
|
|
],
|
|
"reprojection_error_px": 6.0686659774031995,
|
|
"confidence": 0.6560383014602613
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
419.75,
|
|
914.75
|
|
],
|
|
"projected_center_px": [
|
|
425.5977783203125,
|
|
913.2157592773438
|
|
],
|
|
"reprojection_error_px": 6.045693167749556,
|
|
"confidence": 0.6806547457875692
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1073.0,
|
|
853.25
|
|
],
|
|
"projected_center_px": [
|
|
1077.5833740234375,
|
|
854.2940673828125
|
|
],
|
|
"reprojection_error_px": 4.700786544672561,
|
|
"confidence": 0.41285121294657384
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
238.75,
|
|
848.0
|
|
],
|
|
"projected_center_px": [
|
|
237.77906799316406,
|
|
846.0220947265625
|
|
],
|
|
"reprojection_error_px": 2.203365206358295,
|
|
"confidence": 0.5529673325477359
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |