369 lines
8.5 KiB
JSON
369 lines
8.5 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T14:49:28Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\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": [
|
|
[
|
|
1994.6785888671875,
|
|
0.0,
|
|
720.2863159179688
|
|
],
|
|
[
|
|
0.0,
|
|
1997.283935546875,
|
|
541.2328491210938
|
|
],
|
|
[
|
|
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": 12,
|
|
"used_marker_ids": [
|
|
95,
|
|
79,
|
|
208,
|
|
69,
|
|
51,
|
|
103,
|
|
58,
|
|
214,
|
|
64,
|
|
211,
|
|
86,
|
|
82
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.008418835765400947,
|
|
0.0016136576260781762,
|
|
0.0015571421861922138,
|
|
0.001557141226652901
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 4.406179843394109,
|
|
"residual_median_px": 3.3926204211564706,
|
|
"residual_max_px": 6.6103633151271834,
|
|
"sigma2_normalized": 3.2329183996503794e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8178141713142395,
|
|
0.5754823684692383,
|
|
-6.176326860440895e-05
|
|
],
|
|
[
|
|
0.16329333186149597,
|
|
-0.23215799033641815,
|
|
-0.9588732719421387
|
|
],
|
|
[
|
|
-0.5518289804458618,
|
|
0.7841700911521912,
|
|
-0.2838345468044281
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11516551673412323,
|
|
0.08510418981313705,
|
|
1.124017357826233
|
|
],
|
|
"rvec_rad": [
|
|
1.7925360809353703,
|
|
0.5674343637548808,
|
|
-0.4238929115310559
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.7005524039268494,
|
|
-0.7953874468803406,
|
|
0.40063196420669556
|
|
],
|
|
"position_mm": [
|
|
700.5524291992188,
|
|
-795.387451171875,
|
|
400.6319580078125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.89798736572266,
|
|
"pitch": 33.49258041381836,
|
|
"yaw": 11.291775703430176
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.400822776956544e-05,
|
|
9.763358413335958e-06,
|
|
1.0512485228941048e-05,
|
|
-2.5850665960888705e-07,
|
|
-4.8151212025469295e-06,
|
|
9.713168996319172e-07
|
|
],
|
|
[
|
|
9.763358413335963e-06,
|
|
1.6198200212440952e-05,
|
|
1.192878109598773e-06,
|
|
1.6775946574878425e-06,
|
|
-2.7618371639958204e-06,
|
|
2.815769340419117e-06
|
|
],
|
|
[
|
|
1.0512485228941026e-05,
|
|
1.19287810959877e-06,
|
|
3.1369869923263434e-05,
|
|
-2.2976599919911068e-06,
|
|
-4.311400227842061e-06,
|
|
-5.361751967763109e-06
|
|
],
|
|
[
|
|
-2.5850665960888207e-07,
|
|
1.6775946574878415e-06,
|
|
-2.2976599919911012e-06,
|
|
6.220848930932079e-07,
|
|
5.592758774919396e-08,
|
|
4.6994456086521844e-07
|
|
],
|
|
[
|
|
-4.815121202546934e-06,
|
|
-2.76183716399582e-06,
|
|
-4.311400227842066e-06,
|
|
5.5927587749195256e-08,
|
|
1.700263139328119e-06,
|
|
1.358582861331504e-06
|
|
],
|
|
[
|
|
9.713168996318905e-07,
|
|
2.8157693404191152e-06,
|
|
-5.36175196776313e-06,
|
|
4.699445608652218e-07,
|
|
1.35858286133151e-06,
|
|
8.387481406695147e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.2807389580632829,
|
|
0.23059825349764196,
|
|
0.3209068528142265
|
|
],
|
|
"tvec_std_m": [
|
|
0.0007887235847197723,
|
|
0.0013039413864618758,
|
|
0.0028961148814739975
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.004221018625230898,
|
|
0.003090435283903041,
|
|
0.0052937963570303835
|
|
],
|
|
"camera_center_std_mm": [
|
|
4.221018625230898,
|
|
3.0904352839030413,
|
|
5.293796357030383
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.35383874912846847,
|
|
"pitch": 0.24723411660150899,
|
|
"yaw": 0.3238108664290864
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
421.25,
|
|
1048.25
|
|
],
|
|
"projected_center_px": [
|
|
423.99993896484375,
|
|
1045.65087890625
|
|
],
|
|
"reprojection_error_px": 3.7838597714955178,
|
|
"confidence": 0.2003830020546862
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
835.25,
|
|
1017.25
|
|
],
|
|
"projected_center_px": [
|
|
836.7453002929688,
|
|
1018.5023803710938
|
|
],
|
|
"reprojection_error_px": 1.9504818789348821,
|
|
"confidence": 0.6400522412441046
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1003.75,
|
|
919.25
|
|
],
|
|
"projected_center_px": [
|
|
997.1609497070312,
|
|
919.7803955078125
|
|
],
|
|
"reprojection_error_px": 6.6103633151271834,
|
|
"confidence": 0.5709388770322462
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
128.0,
|
|
929.75
|
|
],
|
|
"projected_center_px": [
|
|
123.4149169921875,
|
|
933.6959228515625
|
|
],
|
|
"reprojection_error_px": 6.0492390710744814,
|
|
"confidence": 0.6702789510266324
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
549.75,
|
|
937.5
|
|
],
|
|
"projected_center_px": [
|
|
550.3554077148438,
|
|
936.1559448242188
|
|
],
|
|
"reprojection_error_px": 1.4741108563254997,
|
|
"confidence": 0.7506666410735513
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
420.0,
|
|
915.0
|
|
],
|
|
"projected_center_px": [
|
|
425.4974365234375,
|
|
912.792724609375
|
|
],
|
|
"reprojection_error_px": 5.924008185281595,
|
|
"confidence": 0.6858507270207403
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
291.25,
|
|
903.25
|
|
],
|
|
"projected_center_px": [
|
|
292.6981506347656,
|
|
905.87890625
|
|
],
|
|
"reprojection_error_px": 3.001381070817424,
|
|
"confidence": 0.7305956057951858
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1072.75,
|
|
853.25
|
|
],
|
|
"projected_center_px": [
|
|
1077.9564208984375,
|
|
853.8241577148438
|
|
],
|
|
"reprojection_error_px": 5.237983930216028,
|
|
"confidence": 0.43182165806571704
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
238.75,
|
|
847.75
|
|
],
|
|
"projected_center_px": [
|
|
237.0703887939453,
|
|
845.557861328125
|
|
],
|
|
"reprojection_error_px": 2.761623754285578,
|
|
"confidence": 0.5138042227252806
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
897.0,
|
|
804.25
|
|
],
|
|
"projected_center_px": [
|
|
890.7152709960938,
|
|
802.647705078125
|
|
],
|
|
"reprojection_error_px": 6.485766544457706,
|
|
"confidence": 0.4042509328882699
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
1322.0,
|
|
716.0
|
|
],
|
|
"projected_center_px": [
|
|
1322.412109375,
|
|
718.3970336914062
|
|
],
|
|
"reprojection_error_px": 2.4322016065078906,
|
|
"confidence": 0.14159707466679353
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1095.75,
|
|
668.0
|
|
],
|
|
"projected_center_px": [
|
|
1097.6138916015625,
|
|
666.67041015625
|
|
],
|
|
"reprojection_error_px": 2.289519830658466,
|
|
"confidence": 0.1387833242120413
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |