277 lines
6.4 KiB
JSON
277 lines
6.4 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:17:24Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_e_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "e",
|
|
"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": 5,
|
|
"used_marker_ids": [
|
|
48,
|
|
63,
|
|
57,
|
|
102,
|
|
59
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
5
|
|
],
|
|
"rms": [
|
|
0.005490335017817859,
|
|
0.0009207981874234163,
|
|
0.0007978218412669279,
|
|
0.0007975729786899693,
|
|
0.0007975720026124208,
|
|
0.0007975720014286099
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05,
|
|
3.125e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 2.253019850621171,
|
|
"residual_median_px": 2.4455549596746637,
|
|
"residual_max_px": 3.031885766797793,
|
|
"sigma2_normalized": 1.5903027436554643e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.6081708669662476,
|
|
0.7936710119247437,
|
|
-0.01464788243174553
|
|
],
|
|
[
|
|
0.18743933737277985,
|
|
-0.16151224076747894,
|
|
-0.9689067602157593
|
|
],
|
|
[
|
|
-0.7713589668273926,
|
|
0.5865152478218079,
|
|
-0.24699220061302185
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.034584689885377884,
|
|
0.004542244132608175,
|
|
1.5705739259719849
|
|
],
|
|
"rvec_rad": [
|
|
1.6823844384302438,
|
|
0.8184781874192645,
|
|
-0.6557157357078522
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
1.2316583395004272,
|
|
-0.8929830193519592,
|
|
0.3918139338493347
|
|
],
|
|
"position_mm": [
|
|
1231.6583251953125,
|
|
-892.9830322265625,
|
|
391.8139343261719
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 112.83683776855469,
|
|
"pitch": 50.47608184814453,
|
|
"yaw": 17.1293888092041
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.00022358250348588856,
|
|
2.975312359882589e-05,
|
|
4.5138641220183715e-05,
|
|
-2.4590117864030585e-05,
|
|
-0.00012635747142908656,
|
|
-2.5854417508982424e-05
|
|
],
|
|
[
|
|
2.9753123598819887e-05,
|
|
9.823927464164613e-05,
|
|
-8.201642444486075e-05,
|
|
7.214641878689235e-05,
|
|
-3.678386854705206e-05,
|
|
8.967059424569534e-06
|
|
],
|
|
[
|
|
4.5138641220182e-05,
|
|
-8.20164244448554e-05,
|
|
0.0003238769314833864,
|
|
-0.00015433721099328558,
|
|
-4.801246017776198e-05,
|
|
-3.7783704139557304e-05
|
|
],
|
|
[
|
|
-2.4590117864032844e-05,
|
|
7.214641878688992e-05,
|
|
-0.00015433721099328819,
|
|
9.105076910041697e-05,
|
|
1.3187908136323388e-05,
|
|
2.554654668162132e-05
|
|
],
|
|
[
|
|
-0.0001263574714290839,
|
|
-3.6783868547055807e-05,
|
|
-4.8012460177760766e-05,
|
|
1.3187908136320947e-05,
|
|
8.492817647776868e-05,
|
|
2.3355601847241886e-05
|
|
],
|
|
[
|
|
-2.58544175089823e-05,
|
|
8.96705942456874e-06,
|
|
-3.778370413955766e-05,
|
|
2.5546546681621066e-05,
|
|
2.335560184724219e-05,
|
|
3.993646224257001e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.8567251964282351,
|
|
0.5678912876723358,
|
|
1.0311281430045345
|
|
],
|
|
"tvec_std_m": [
|
|
0.009542052667032234,
|
|
0.00921564845671582,
|
|
0.006319530223249986
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.01321223442485409,
|
|
0.01236893063454088,
|
|
0.012969271812022972
|
|
],
|
|
"camera_center_std_mm": [
|
|
13.212234424854088,
|
|
12.368930634540881,
|
|
12.969271812022972
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 1.2148648959768518,
|
|
"pitch": 0.9980721779493005,
|
|
"yaw": 0.9061157949788621
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
1024.25,
|
|
1030.5
|
|
],
|
|
"projected_center_px": [
|
|
1021.9434814453125,
|
|
1031.8519287109375
|
|
],
|
|
"reprojection_error_px": 2.6735255904095707,
|
|
"confidence": 0.49526620842323854
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1316.0,
|
|
1051.25
|
|
],
|
|
"projected_center_px": [
|
|
1317.467041015625,
|
|
1050.654052734375
|
|
],
|
|
"reprojection_error_px": 1.5834653406159371,
|
|
"confidence": 0.12173424671007582
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
813.25,
|
|
990.5
|
|
],
|
|
"projected_center_px": [
|
|
815.8483276367188,
|
|
988.9376220703125
|
|
],
|
|
"reprojection_error_px": 3.031885766797793,
|
|
"confidence": 0.7730384623298485
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1107.5,
|
|
938.0
|
|
],
|
|
"projected_center_px": [
|
|
1107.58984375,
|
|
937.2622680664062
|
|
],
|
|
"reprojection_error_px": 0.7431825517717943,
|
|
"confidence": 0.6844006612851383
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
990.0,
|
|
951.75
|
|
],
|
|
"projected_center_px": [
|
|
988.09912109375,
|
|
953.2886352539062
|
|
],
|
|
"reprojection_error_px": 2.4455549596746637,
|
|
"confidence": 0.6409119765834078
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |