355 lines
8.2 KiB
JSON
355 lines
8.2 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:47:01Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_c_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "c",
|
|
"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": 11,
|
|
"used_marker_ids": [
|
|
58,
|
|
96,
|
|
62,
|
|
64,
|
|
103,
|
|
51,
|
|
79,
|
|
208,
|
|
215,
|
|
214,
|
|
210
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.006666695807435752,
|
|
0.0016708921219899904,
|
|
0.0016357520835136741,
|
|
0.0016357513503628778
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 4.625513951613348,
|
|
"residual_median_px": 4.822639352064224,
|
|
"residual_max_px": 7.207916289160512,
|
|
"sigma2_normalized": 3.679063410243531e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9924803376197815,
|
|
0.12208681553602219,
|
|
-0.008806933648884296
|
|
],
|
|
[
|
|
0.026929331943392754,
|
|
-0.2879701852798462,
|
|
-0.9572606682777405
|
|
],
|
|
[
|
|
-0.11940503865480423,
|
|
0.9498252272605896,
|
|
-0.289092481136322
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.19661974906921387,
|
|
0.10930830985307693,
|
|
1.0064818859100342
|
|
],
|
|
"rvec_rad": [
|
|
1.8619770305770862,
|
|
0.1079820989203445,
|
|
-0.09290669664454637
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.31237664818763733,
|
|
-0.900499701499939,
|
|
0.3938712477684021
|
|
],
|
|
"position_mm": [
|
|
312.37664794921875,
|
|
-900.4996948242188,
|
|
393.8712463378906
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 106.9283447265625,
|
|
"pitch": 6.857766628265381,
|
|
"yaw": 1.5542458295822144
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
9.256211898682748e-05,
|
|
1.4281099504507346e-06,
|
|
5.102774525406323e-06,
|
|
-6.316332997453014e-07,
|
|
-1.2738998965010965e-05,
|
|
-6.593616010403815e-07
|
|
],
|
|
[
|
|
1.4281099504501237e-06,
|
|
2.7352245923959028e-05,
|
|
-3.946548572448868e-05,
|
|
5.32875925654571e-06,
|
|
-5.272320464228498e-07,
|
|
5.855955763281343e-06
|
|
],
|
|
[
|
|
5.102774525408425e-06,
|
|
-3.946548572448866e-05,
|
|
0.00012306639401557442,
|
|
-1.1510213433961531e-05,
|
|
-6.490156518615296e-06,
|
|
-1.4835445083407744e-05
|
|
],
|
|
[
|
|
-6.316332997454927e-07,
|
|
5.32875925654571e-06,
|
|
-1.1510213433961528e-05,
|
|
1.5037042850890489e-06,
|
|
3.839256250876813e-07,
|
|
1.5262514908055418e-06
|
|
],
|
|
[
|
|
-1.2738998965011077e-05,
|
|
-5.272320464229305e-07,
|
|
-6.490156518615026e-06,
|
|
3.8392562508767197e-07,
|
|
2.913796259424031e-06,
|
|
2.1338078768070077e-06
|
|
],
|
|
[
|
|
-6.593616010406444e-07,
|
|
5.8559557632813455e-06,
|
|
-1.4835445083407768e-05,
|
|
1.5262514908056131e-06,
|
|
2.1338078768070483e-06,
|
|
9.101538817152566e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.551238162667009,
|
|
0.29965334405985783,
|
|
0.6356124131476469
|
|
],
|
|
"tvec_std_m": [
|
|
0.0012262562069523027,
|
|
0.0017069845516067305,
|
|
0.0030168756714774583
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.008955660942841266,
|
|
0.00463120769817731,
|
|
0.008137378681171904
|
|
],
|
|
"camera_center_std_mm": [
|
|
8.955660942841266,
|
|
4.6312076981773105,
|
|
8.137378681171905
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.5896972996025646,
|
|
"pitch": 0.5564851408473456,
|
|
"yaw": 0.24576150864402418
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
283.0,
|
|
1034.0
|
|
],
|
|
"projected_center_px": [
|
|
287.3377990722656,
|
|
1036.406005859375
|
|
],
|
|
"reprojection_error_px": 4.960379520429394,
|
|
"confidence": 0.35308139542139383
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
1097.25,
|
|
1038.5
|
|
],
|
|
"projected_center_px": [
|
|
1091.43212890625,
|
|
1040.1689453125
|
|
],
|
|
"reprojection_error_px": 6.052520344419136,
|
|
"confidence": 0.24
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
1171.5,
|
|
1028.5
|
|
],
|
|
"projected_center_px": [
|
|
1178.4854736328125,
|
|
1030.27685546875
|
|
],
|
|
"reprojection_error_px": 7.207916289160512,
|
|
"confidence": 0.3733082376630004
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
149.25,
|
|
989.75
|
|
],
|
|
"projected_center_px": [
|
|
146.05548095703125,
|
|
989.5084228515625
|
|
],
|
|
"reprojection_error_px": 3.203640341008518,
|
|
"confidence": 0.6377506588260954
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
439.0,
|
|
1008.75
|
|
],
|
|
"projected_center_px": [
|
|
442.0436706542969,
|
|
1005.0091552734375
|
|
],
|
|
"reprojection_error_px": 4.822639352064224,
|
|
"confidence": 0.5472080951208358
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
598.75,
|
|
996.0
|
|
],
|
|
"projected_center_px": [
|
|
597.156982421875,
|
|
993.8657836914062
|
|
],
|
|
"reprojection_error_px": 2.6631906157995475,
|
|
"confidence": 0.5114083118319144
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
946.25,
|
|
998.25
|
|
],
|
|
"projected_center_px": [
|
|
946.69287109375,
|
|
997.0548706054688
|
|
],
|
|
"reprojection_error_px": 1.2745466156057037,
|
|
"confidence": 0.4739639622362142
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1042.75,
|
|
866.5
|
|
],
|
|
"projected_center_px": [
|
|
1036.383544921875,
|
|
866.1290893554688
|
|
],
|
|
"reprojection_error_px": 6.3772505806193776,
|
|
"confidence": 0.3789656997765551
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
812.0,
|
|
854.75
|
|
],
|
|
"projected_center_px": [
|
|
809.8978881835938,
|
|
855.5348510742188
|
|
],
|
|
"reprojection_error_px": 2.2438505514800022,
|
|
"confidence": 0.24987663486358277
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1026.25,
|
|
792.75
|
|
],
|
|
"projected_center_px": [
|
|
1031.4837646484375,
|
|
791.7239379882812
|
|
],
|
|
"reprojection_error_px": 5.333394383235356,
|
|
"confidence": 0.23856484300932573
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
357.5,
|
|
769.75
|
|
],
|
|
"projected_center_px": [
|
|
356.33673095703125,
|
|
771.8514404296875
|
|
],
|
|
"reprojection_error_px": 2.4019256328734695,
|
|
"confidence": 0.27208796852741535
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |