544 lines
12 KiB
JSON
544 lines
12 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T12:39:07Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_f_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"camera_matrix": [
|
|
[
|
|
1777.77783203125,
|
|
0.0,
|
|
640.0
|
|
],
|
|
[
|
|
0.0,
|
|
1500.0,
|
|
360.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0,
|
|
0.0,
|
|
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": 23,
|
|
"used_marker_ids": [
|
|
46,
|
|
208,
|
|
56,
|
|
62,
|
|
47,
|
|
96,
|
|
53,
|
|
97,
|
|
72,
|
|
84,
|
|
79,
|
|
51,
|
|
103,
|
|
73,
|
|
210,
|
|
58,
|
|
69,
|
|
82,
|
|
101,
|
|
52,
|
|
64,
|
|
83,
|
|
75
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
5,
|
|
6,
|
|
7,
|
|
8,
|
|
9,
|
|
10
|
|
],
|
|
"rms": [
|
|
0.01620569039138238,
|
|
0.015761304658646082,
|
|
0.011178227950218002,
|
|
0.008575948818977547,
|
|
0.007949983475241626,
|
|
0.007920351934334269,
|
|
0.007919105573200393,
|
|
0.007919056134977861,
|
|
0.007919054211894365,
|
|
0.007919054137370454,
|
|
0.00791905413447669
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05,
|
|
3.125e-05,
|
|
1.5625e-05,
|
|
7.8125e-06,
|
|
3.90625e-06,
|
|
1.953125e-06,
|
|
9.765625e-07
|
|
]
|
|
},
|
|
"residual_rms_px": 18.36672169505546,
|
|
"residual_median_px": 18.45203304122356,
|
|
"residual_max_px": 37.081542135517196,
|
|
"sigma2_normalized": 7.211813114049388e-05
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.3240183889865875,
|
|
0.9001911878585815,
|
|
0.290977418422699
|
|
],
|
|
[
|
|
0.9460428953170776,
|
|
-0.3070528507232666,
|
|
-0.10354415327310562
|
|
],
|
|
[
|
|
-0.0038640922866761684,
|
|
0.30882734060287476,
|
|
-0.9511102437973022
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.12070151418447495,
|
|
-0.1992567777633667,
|
|
1.2855764627456665
|
|
],
|
|
"rvec_rad": [
|
|
2.336698543638986,
|
|
1.6707162196782994,
|
|
0.25981801778131897
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.15436352789402008,
|
|
-0.5668579936027527,
|
|
1.1669716835021973
|
|
],
|
|
"position_mm": [
|
|
154.363525390625,
|
|
-566.8579711914062,
|
|
1166.9716796875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 162.0112762451172,
|
|
"pitch": 0.22139672935009003,
|
|
"yaw": 71.09373474121094
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.0007070283099048364,
|
|
0.0003922597681456711,
|
|
-7.41589131493788e-05,
|
|
3.3953838788613734e-07,
|
|
3.208364611136549e-05,
|
|
0.000138171391618346
|
|
],
|
|
[
|
|
0.0003922597681456733,
|
|
0.00041091740757780165,
|
|
-2.479873761837661e-05,
|
|
2.691870545432266e-05,
|
|
1.4808582978701845e-05,
|
|
9.18767553981082e-05
|
|
],
|
|
[
|
|
-7.415891314936971e-05,
|
|
-2.4798737618366298e-05,
|
|
0.0020464242879364536,
|
|
6.0246410202387945e-05,
|
|
1.5723407245249837e-05,
|
|
-0.0006191280451670264
|
|
],
|
|
[
|
|
3.395383878868549e-07,
|
|
2.6918705454323185e-05,
|
|
6.024641020238681e-05,
|
|
1.2790957408724965e-05,
|
|
5.350853210601944e-07,
|
|
8.935749814126173e-07
|
|
],
|
|
[
|
|
3.208364611136553e-05,
|
|
1.4808582978701784e-05,
|
|
1.5723407245249034e-05,
|
|
5.35085321060153e-07,
|
|
7.114846441912381e-06,
|
|
3.216257136721314e-06
|
|
],
|
|
[
|
|
0.00013817139161834426,
|
|
9.187675539810535e-05,
|
|
-0.0006191280451670294,
|
|
8.935749814121383e-07,
|
|
3.216257136721122e-06,
|
|
0.00033099683596469147
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
1.5234950034029218,
|
|
1.1614483522424797,
|
|
2.5919133178515157
|
|
],
|
|
"tvec_std_m": [
|
|
0.0035764448001786584,
|
|
0.0026673669492427135,
|
|
0.018193318442897972
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.040295480993643586,
|
|
0.03323936953565478,
|
|
0.02881842013892959
|
|
],
|
|
"camera_center_std_mm": [
|
|
40.29548099364359,
|
|
33.23936953565478,
|
|
28.81842013892959
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 1.529849867307687,
|
|
"pitch": 1.7776295549673884,
|
|
"yaw": 0.581872605857214
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
1234.0,
|
|
666.0
|
|
],
|
|
"projected_center_px": [
|
|
1230.0096435546875,
|
|
639.18408203125
|
|
],
|
|
"reprojection_error_px": 27.111185903006458,
|
|
"confidence": 0.2988751797371847
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
831.5,
|
|
547.75
|
|
],
|
|
"projected_center_px": [
|
|
856.7876586914062,
|
|
550.4183349609375
|
|
],
|
|
"reprojection_error_px": 25.428049346279305,
|
|
"confidence": 0.5954364184044425
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
1196.0,
|
|
626.75
|
|
],
|
|
"projected_center_px": [
|
|
1196.3935546875,
|
|
606.256103515625
|
|
],
|
|
"reprojection_error_px": 20.497674951182418,
|
|
"confidence": 0.5697620483284124
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
750.75,
|
|
651.75
|
|
],
|
|
"projected_center_px": [
|
|
762.11083984375,
|
|
646.8836059570312
|
|
],
|
|
"reprojection_error_px": 12.359226227267598,
|
|
"confidence": 0.5711737708098855
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
593.75,
|
|
623.75
|
|
],
|
|
"projected_center_px": [
|
|
591.0401000976562,
|
|
626.6845703125
|
|
],
|
|
"reprojection_error_px": 3.99440363505355,
|
|
"confidence": 0.5768583617164568
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
723.0,
|
|
614.25
|
|
],
|
|
"projected_center_px": [
|
|
731.8233642578125,
|
|
612.2721557617188
|
|
],
|
|
"reprojection_error_px": 9.042324073873125,
|
|
"confidence": 0.570786168435231
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1240.5,
|
|
594.75
|
|
],
|
|
"projected_center_px": [
|
|
1236.42626953125,
|
|
576.4193115234375
|
|
],
|
|
"reprojection_error_px": 18.777897112211562,
|
|
"confidence": 0.21364841201201337
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
491.5,
|
|
605.25
|
|
],
|
|
"projected_center_px": [
|
|
473.3843994140625,
|
|
612.5693359375
|
|
],
|
|
"reprojection_error_px": 19.538363881226037,
|
|
"confidence": 0.5705029634947052
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1197.75,
|
|
548.5
|
|
],
|
|
"projected_center_px": [
|
|
1198.7923583984375,
|
|
536.4050903320312
|
|
],
|
|
"reprojection_error_px": 12.13974262112328,
|
|
"confidence": 0.5440516905787338
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1254.25,
|
|
485.0
|
|
],
|
|
"projected_center_px": [
|
|
1250.7076416015625,
|
|
478.4268493652344
|
|
],
|
|
"reprojection_error_px": 7.4669011169494155,
|
|
"confidence": 0.06519221426443914
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
731.5,
|
|
535.75
|
|
],
|
|
"projected_center_px": [
|
|
739.6856689453125,
|
|
535.8737182617188
|
|
],
|
|
"reprojection_error_px": 8.186603831292691,
|
|
"confidence": 0.5460974493377216
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
659.0,
|
|
376.0
|
|
],
|
|
"projected_center_px": [
|
|
657.2769775390625,
|
|
378.07232666015625
|
|
],
|
|
"reprojection_error_px": 2.695059217770451,
|
|
"confidence": 0.4817209906880129
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
618.0,
|
|
313.5
|
|
],
|
|
"projected_center_px": [
|
|
608.839599609375,
|
|
313.57318115234375
|
|
],
|
|
"reprojection_error_px": 9.160692702935789,
|
|
"confidence": 0.5046333482067283
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
1247.5,
|
|
251.25
|
|
],
|
|
"projected_center_px": [
|
|
1249.2930908203125,
|
|
265.6144714355469
|
|
],
|
|
"reprojection_error_px": 14.475952967336246,
|
|
"confidence": 0.13607001327160623
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
775.0,
|
|
150.5
|
|
],
|
|
"projected_center_px": [
|
|
791.8716430664062,
|
|
155.67532348632812
|
|
],
|
|
"reprojection_error_px": 17.64755827156702,
|
|
"confidence": 0.46988879526830113
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
562.75,
|
|
264.25
|
|
],
|
|
"projected_center_px": [
|
|
543.74658203125,
|
|
261.0384826660156
|
|
],
|
|
"reprojection_error_px": 19.27287570866093,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
476.25,
|
|
240.75
|
|
],
|
|
"projected_center_px": [
|
|
439.790771484375,
|
|
233.9849853515625
|
|
],
|
|
"reprojection_error_px": 37.081542135517196,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1207.5,
|
|
261.5
|
|
],
|
|
"projected_center_px": [
|
|
1212.1156005859375,
|
|
274.04901123046875
|
|
],
|
|
"reprojection_error_px": 13.370918129707377,
|
|
"confidence": 0.49001748422717006
|
|
},
|
|
{
|
|
"marker_id": 101,
|
|
"observed_center_px": [
|
|
1162.25,
|
|
153.5
|
|
],
|
|
"projected_center_px": [
|
|
1171.7491455078125,
|
|
171.0355987548828
|
|
],
|
|
"reprojection_error_px": 19.943194053883197,
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
1054.25,
|
|
160.5
|
|
],
|
|
"projected_center_px": [
|
|
1068.11669921875,
|
|
173.6162109375
|
|
],
|
|
"reprojection_error_px": 19.087177281627486,
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
570.5,
|
|
177.75
|
|
],
|
|
"projected_center_px": [
|
|
549.831298828125,
|
|
170.02398681640625
|
|
],
|
|
"reprojection_error_px": 22.065504477471876,
|
|
"confidence": 0.43211414091114625
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
1173.0,
|
|
64.0
|
|
],
|
|
"projected_center_px": [
|
|
1182.861572265625,
|
|
85.86101531982422
|
|
],
|
|
"reprojection_error_px": 23.98238099863592,
|
|
"confidence": 0.4377857805109236
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
987.75,
|
|
42.0
|
|
],
|
|
"projected_center_px": [
|
|
1002.350830078125,
|
|
53.282432556152344
|
|
],
|
|
"reprojection_error_px": 18.45203304122356,
|
|
"confidence": 0.22473325223116958
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |