593 lines
14 KiB
JSON
593 lines
14 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T14:49:29Z",
|
|
"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": [
|
|
[
|
|
2006.321044921875,
|
|
0.0,
|
|
720.385009765625
|
|
],
|
|
[
|
|
0.0,
|
|
2007.03759765625,
|
|
541.6199340820312
|
|
],
|
|
[
|
|
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": 28,
|
|
"used_marker_ids": [
|
|
86,
|
|
64,
|
|
215,
|
|
72,
|
|
69,
|
|
53,
|
|
58,
|
|
208,
|
|
56,
|
|
46,
|
|
103,
|
|
95,
|
|
55,
|
|
66,
|
|
217,
|
|
54,
|
|
97,
|
|
205,
|
|
85,
|
|
102,
|
|
92,
|
|
59,
|
|
71,
|
|
48,
|
|
63,
|
|
65,
|
|
87,
|
|
80
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.012705367864799632,
|
|
0.001636722611500904,
|
|
0.0011336799046022968,
|
|
0.0011336548263973284
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.2256201203997805,
|
|
"residual_median_px": 2.9964676737812956,
|
|
"residual_max_px": 5.3896022559724805,
|
|
"sigma2_normalized": 1.4393940570581421e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7064740657806396,
|
|
-0.707737922668457,
|
|
-0.0012004174059256911
|
|
],
|
|
[
|
|
-0.6409515738487244,
|
|
0.6405243873596191,
|
|
-0.4229770600795746
|
|
],
|
|
[
|
|
0.30012577772140503,
|
|
-0.29805290699005127,
|
|
-0.906139612197876
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.0006644008681178093,
|
|
0.32996082305908203,
|
|
1.3934928178787231
|
|
],
|
|
"rvec_rad": [
|
|
1.1159397684816215,
|
|
-2.6917287541436976,
|
|
0.5965984259926778
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.20720359683036804,
|
|
0.2035164088010788,
|
|
1.40226411819458
|
|
],
|
|
"position_mm": [
|
|
-207.20359802246094,
|
|
203.5164031982422,
|
|
1402.26416015625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.79261779785156,
|
|
"pitch": -17.46515655517578,
|
|
"yaw": -137.7839813232422
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
5.725305221368417e-06,
|
|
-6.986211286676296e-06,
|
|
5.946604034053544e-06,
|
|
4.6536146540876963e-07,
|
|
1.0875911271231326e-06,
|
|
4.635262078130261e-06
|
|
],
|
|
[
|
|
-6.986211286676314e-06,
|
|
1.955691122785472e-05,
|
|
-1.433577915460456e-05,
|
|
-3.112667545429074e-06,
|
|
-1.618241406228832e-06,
|
|
-1.1336824799351201e-05
|
|
],
|
|
[
|
|
5.946604034053613e-06,
|
|
-1.4335779154604384e-05,
|
|
5.622977754708798e-05,
|
|
5.291202741417603e-06,
|
|
-3.0154040454812804e-06,
|
|
1.1676765461391288e-07
|
|
],
|
|
[
|
|
4.6536146540877746e-07,
|
|
-3.112667545429064e-06,
|
|
5.291202741417653e-06,
|
|
1.0324165805837017e-06,
|
|
-1.4036753512560642e-07,
|
|
6.744303133417397e-07
|
|
],
|
|
[
|
|
1.0875911271231333e-06,
|
|
-1.6182414062288586e-06,
|
|
-3.0154040454812677e-06,
|
|
-1.4036753512559988e-07,
|
|
7.577828671888528e-07,
|
|
1.7760451144010944e-06
|
|
],
|
|
[
|
|
4.635262078130266e-06,
|
|
-1.1336824799351244e-05,
|
|
1.167676546140381e-07,
|
|
6.744303133417583e-07,
|
|
1.7760451144010838e-06,
|
|
1.1542389969326815e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.13709510690197385,
|
|
0.25338025251668184,
|
|
0.4296410953241417
|
|
],
|
|
"tvec_std_m": [
|
|
0.0010160790228046742,
|
|
0.0008705072470627989,
|
|
0.0033974093025902568
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.006167956483648163,
|
|
0.009245591759430814,
|
|
0.0042002678925638715
|
|
],
|
|
"camera_center_std_mm": [
|
|
6.167956483648163,
|
|
9.245591759430814,
|
|
4.200267892563872
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.3432610343298837,
|
|
"pitch": 0.24725418815476816,
|
|
"yaw": 0.08240790195026802
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
70.5,
|
|
958.75
|
|
],
|
|
"projected_center_px": [
|
|
72.6640625,
|
|
955.1964111328125
|
|
],
|
|
"reprojection_error_px": 4.160668256531057,
|
|
"confidence": 0.5575992832021898
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
921.75,
|
|
859.0
|
|
],
|
|
"projected_center_px": [
|
|
922.2759399414062,
|
|
862.56494140625
|
|
],
|
|
"reprojection_error_px": 3.6035288332358517,
|
|
"confidence": 0.616540888528013
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
567.0,
|
|
692.5
|
|
],
|
|
"projected_center_px": [
|
|
567.9224243164062,
|
|
691.9375
|
|
],
|
|
"reprojection_error_px": 1.080404030674422,
|
|
"confidence": 0.4424958960552566
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
115.75,
|
|
787.5
|
|
],
|
|
"projected_center_px": [
|
|
114.7125473022461,
|
|
788.6083984375
|
|
],
|
|
"reprojection_error_px": 1.5181749557706778,
|
|
"confidence": 0.4975235789090466
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
977.0,
|
|
755.0
|
|
],
|
|
"projected_center_px": [
|
|
977.9473266601562,
|
|
750.5419921875
|
|
],
|
|
"reprojection_error_px": 4.557549940193067,
|
|
"confidence": 0.5873934926369923
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
54.75,
|
|
764.5
|
|
],
|
|
"projected_center_px": [
|
|
58.04951095581055,
|
|
763.8201904296875
|
|
],
|
|
"reprojection_error_px": 3.3688148657060832,
|
|
"confidence": 0.3317064405086114
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
880.5,
|
|
773.0
|
|
],
|
|
"projected_center_px": [
|
|
878.9205322265625,
|
|
769.0278930664062
|
|
],
|
|
"reprojection_error_px": 4.274617168733495,
|
|
"confidence": 0.5891897879835948
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
475.0,
|
|
603.5
|
|
],
|
|
"projected_center_px": [
|
|
477.94195556640625,
|
|
604.615478515625
|
|
],
|
|
"reprojection_error_px": 3.146330382132441,
|
|
"confidence": 0.5365098825483792
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
97.5,
|
|
709.5
|
|
],
|
|
"projected_center_px": [
|
|
94.7508316040039,
|
|
713.7709350585938
|
|
],
|
|
"reprojection_error_px": 5.079253207339533,
|
|
"confidence": 0.509707248070139
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
51.5,
|
|
694.75
|
|
],
|
|
"projected_center_px": [
|
|
46.12141799926758,
|
|
695.094482421875
|
|
],
|
|
"reprojection_error_px": 5.3896022559724805,
|
|
"confidence": 0.290584867175275
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
801.5,
|
|
744.5
|
|
],
|
|
"projected_center_px": [
|
|
797.05908203125,
|
|
746.2767333984375
|
|
],
|
|
"reprojection_error_px": 4.783151050749902,
|
|
"confidence": 0.5886722764049094
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
802.5,
|
|
599.0
|
|
],
|
|
"projected_center_px": [
|
|
800.223388671875,
|
|
601.8912353515625
|
|
],
|
|
"reprojection_error_px": 3.6799729615136862,
|
|
"confidence": 0.5086613910190547
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
699.0,
|
|
531.75
|
|
],
|
|
"projected_center_px": [
|
|
701.0597534179688,
|
|
530.793701171875
|
|
],
|
|
"reprojection_error_px": 2.270923070363062,
|
|
"confidence": 0.5054980739107272
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
857.5,
|
|
508.5
|
|
],
|
|
"projected_center_px": [
|
|
857.0489501953125,
|
|
509.3045349121094
|
|
],
|
|
"reprojection_error_px": 0.9223461124282314,
|
|
"confidence": 0.5046753915740128
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
229.25,
|
|
365.25
|
|
],
|
|
"projected_center_px": [
|
|
227.60406494140625,
|
|
361.9054870605469
|
|
],
|
|
"reprojection_error_px": 3.7275821948385515,
|
|
"confidence": 0.4158618894065431
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
709.5,
|
|
434.5
|
|
],
|
|
"projected_center_px": [
|
|
709.8967895507812,
|
|
430.5449523925781
|
|
],
|
|
"reprojection_error_px": 3.974901699989911,
|
|
"confidence": 0.47669546512195393
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
766.0,
|
|
436.5
|
|
],
|
|
"projected_center_px": [
|
|
768.6670532226562,
|
|
437.4076843261719
|
|
],
|
|
"reprojection_error_px": 2.8172794906539145,
|
|
"confidence": 0.45270011191053483
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
148.0,
|
|
285.0
|
|
],
|
|
"projected_center_px": [
|
|
150.02587890625,
|
|
286.7535705566406
|
|
],
|
|
"reprojection_error_px": 2.6794019929651482,
|
|
"confidence": 0.38107014005487916
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
556.0,
|
|
319.5
|
|
],
|
|
"projected_center_px": [
|
|
556.5265502929688,
|
|
321.59716796875
|
|
],
|
|
"reprojection_error_px": 2.162260090779201,
|
|
"confidence": 0.40168081794344246
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
359.0,
|
|
279.75
|
|
],
|
|
"projected_center_px": [
|
|
359.55657958984375,
|
|
281.1851806640625
|
|
],
|
|
"reprojection_error_px": 1.5393259493458542,
|
|
"confidence": 0.36215529762078374
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
329.0,
|
|
309.25
|
|
],
|
|
"projected_center_px": [
|
|
328.158203125,
|
|
312.1943359375
|
|
],
|
|
"reprojection_error_px": 3.062308947773521,
|
|
"confidence": 0.36117119671607356
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
425.0,
|
|
258.5
|
|
],
|
|
"projected_center_px": [
|
|
428.2727355957031,
|
|
258.1341247558594
|
|
],
|
|
"reprojection_error_px": 3.293123589186602,
|
|
"confidence": 0.3829018389079366
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
337.0,
|
|
166.0
|
|
],
|
|
"projected_center_px": [
|
|
337.4945983886719,
|
|
168.29945373535156
|
|
],
|
|
"reprojection_error_px": 2.3520448650268277,
|
|
"confidence": 0.3408600931480542
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
415.5,
|
|
187.75
|
|
],
|
|
"projected_center_px": [
|
|
416.6551208496094,
|
|
185.05662536621094
|
|
],
|
|
"reprojection_error_px": 2.930626399789071,
|
|
"confidence": 0.3384322903762507
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
275.5,
|
|
183.5
|
|
],
|
|
"projected_center_px": [
|
|
273.7690124511719,
|
|
182.0309295654297
|
|
],
|
|
"reprojection_error_px": 2.27034927619664,
|
|
"confidence": 0.3375471143770103
|
|
},
|
|
{
|
|
"marker_id": 65,
|
|
"observed_center_px": [
|
|
310.5,
|
|
124.5
|
|
],
|
|
"projected_center_px": [
|
|
309.096435546875,
|
|
123.10820770263672
|
|
],
|
|
"reprojection_error_px": 1.9766332419232053,
|
|
"confidence": 0.3375471143770103
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
161.0,
|
|
66.0
|
|
],
|
|
"projected_center_px": [
|
|
161.25509643554688,
|
|
64.62251281738281
|
|
],
|
|
"reprojection_error_px": 1.4009086800014332,
|
|
"confidence": 0.3158166687011719
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
299.0,
|
|
56.75
|
|
],
|
|
"projected_center_px": [
|
|
298.5722351074219,
|
|
58.358619689941406
|
|
],
|
|
"reprojection_error_px": 1.6645239890700165,
|
|
"confidence": 0.2485923429199218
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |