739 lines
17 KiB
JSON
739 lines
17 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:49:00Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\render_b_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "b",
|
|
"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": 38,
|
|
"used_marker_ids": [
|
|
63,
|
|
102,
|
|
64,
|
|
58,
|
|
92,
|
|
103,
|
|
96,
|
|
62,
|
|
51,
|
|
205,
|
|
217,
|
|
215,
|
|
210,
|
|
206,
|
|
207,
|
|
211,
|
|
94,
|
|
76,
|
|
100,
|
|
75,
|
|
68,
|
|
46,
|
|
77,
|
|
56,
|
|
50,
|
|
72,
|
|
104,
|
|
53,
|
|
84,
|
|
60,
|
|
67,
|
|
70,
|
|
88,
|
|
98,
|
|
83,
|
|
61,
|
|
90,
|
|
91
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
5
|
|
],
|
|
"rms": [
|
|
0.01936243894886812,
|
|
0.004504286320099958,
|
|
0.004417206825843351,
|
|
0.004416654012327134,
|
|
0.00441664913424621,
|
|
0.004416649083862305
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05,
|
|
3.125e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 10.336901149094594,
|
|
"residual_median_px": 7.911059866215747,
|
|
"residual_max_px": 23.055380883534486,
|
|
"sigma2_normalized": 2.1178799621236164e-05
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9994587898254395,
|
|
-0.0265682190656662,
|
|
0.019398627802729607
|
|
],
|
|
[
|
|
-0.015089723281562328,
|
|
-0.8942529559135437,
|
|
-0.4473074972629547
|
|
],
|
|
[
|
|
0.029231442138552666,
|
|
0.44677266478538513,
|
|
-0.8941698670387268
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.31154167652130127,
|
|
0.07258053123950958,
|
|
1.4728074073791504
|
|
],
|
|
"rvec_rad": [
|
|
2.677685054851371,
|
|
-0.029448346277721995,
|
|
0.034377001617123794
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.2694159746170044,
|
|
-0.6013818383216858,
|
|
1.3554491996765137
|
|
],
|
|
"position_mm": [
|
|
269.4159851074219,
|
|
-601.3818359375,
|
|
1355.44921875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 153.45095825195312,
|
|
"pitch": -1.6750767230987549,
|
|
"yaw": -0.8649798631668091
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.000183169366877946,
|
|
2.511133728716212e-07,
|
|
1.6753443595951066e-05,
|
|
3.246311554970993e-06,
|
|
1.2680504595972579e-05,
|
|
3.9664731839538066e-05
|
|
],
|
|
[
|
|
2.5111337287174125e-07,
|
|
2.2976313682582654e-05,
|
|
-1.4965827157762824e-05,
|
|
-2.246676642977271e-06,
|
|
-6.10153779676334e-06,
|
|
7.096118093591089e-06
|
|
],
|
|
[
|
|
1.675344359594896e-05,
|
|
-1.4965827157762924e-05,
|
|
0.00032245839081459685,
|
|
2.192385774362636e-05,
|
|
-1.9692030725086094e-05,
|
|
-0.00011558973499243617
|
|
],
|
|
[
|
|
3.2463115549708234e-06,
|
|
-2.2466766429773017e-06,
|
|
2.1923857743626363e-05,
|
|
3.113375739588508e-06,
|
|
-7.345806309240738e-07,
|
|
-4.963559120179011e-06
|
|
],
|
|
[
|
|
1.2680504595972676e-05,
|
|
-6.101537796763344e-06,
|
|
-1.9692030725085976e-05,
|
|
-7.345806309240728e-07,
|
|
5.817437749232182e-06,
|
|
1.0600837332582353e-05
|
|
],
|
|
[
|
|
3.966473183953871e-05,
|
|
7.096118093591119e-06,
|
|
-0.00011558973499243626,
|
|
-4.963559120179052e-06,
|
|
1.0600837332582411e-05,
|
|
8.089705386101733e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.7754415263026296,
|
|
0.2746393789263369,
|
|
1.0288675585228293
|
|
],
|
|
"tvec_std_m": [
|
|
0.0017644760524270393,
|
|
0.0024119365143453054,
|
|
0.008994278951701316
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.019976222054882288,
|
|
0.0181651215437615,
|
|
0.01443778735592802
|
|
],
|
|
"camera_center_std_mm": [
|
|
19.97622205488229,
|
|
18.1651215437615,
|
|
14.43778735592802
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.6235589489894838,
|
|
"pitch": 0.7407401156515363,
|
|
"yaw": 0.23467684229942776
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1246.0,
|
|
678.75
|
|
],
|
|
"projected_center_px": [
|
|
1232.2193603515625,
|
|
661.4334106445312
|
|
],
|
|
"reprojection_error_px": 22.130754529071556,
|
|
"confidence": 0.1539593300495616
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1078.25,
|
|
665.5
|
|
],
|
|
"projected_center_px": [
|
|
1070.69873046875,
|
|
650.5662841796875
|
|
],
|
|
"reprojection_error_px": 16.734322207231354,
|
|
"confidence": 0.39637168760361213
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
220.5,
|
|
635.25
|
|
],
|
|
"projected_center_px": [
|
|
226.76425170898438,
|
|
629.1378173828125
|
|
],
|
|
"reprojection_error_px": 8.752121218274041,
|
|
"confidence": 0.4633649853376546
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
307.25,
|
|
668.0
|
|
],
|
|
"projected_center_px": [
|
|
314.9366149902344,
|
|
658.7521362304688
|
|
],
|
|
"reprojection_error_px": 12.025266496336144,
|
|
"confidence": 0.3638956157928849
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1064.5,
|
|
622.75
|
|
],
|
|
"projected_center_px": [
|
|
1058.65771484375,
|
|
611.5025024414062
|
|
],
|
|
"reprojection_error_px": 12.674324328243753,
|
|
"confidence": 0.46896024883690896
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
382.0,
|
|
633.0
|
|
],
|
|
"projected_center_px": [
|
|
387.18377685546875,
|
|
625.8668823242188
|
|
],
|
|
"reprojection_error_px": 8.817761068652086,
|
|
"confidence": 0.45199802144368495
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
716.75,
|
|
628.25
|
|
],
|
|
"projected_center_px": [
|
|
717.930419921875,
|
|
618.9808959960938
|
|
],
|
|
"reprojection_error_px": 9.343964909351397,
|
|
"confidence": 0.4188831057394705
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
760.25,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
760.598388671875,
|
|
606.6444091796875
|
|
],
|
|
"reprojection_error_px": 8.36285074739358,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
461.75,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
465.6325378417969,
|
|
608.529296875
|
|
],
|
|
"reprojection_error_px": 7.546131394619994,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
1181.0,
|
|
502.0
|
|
],
|
|
"projected_center_px": [
|
|
1178.435302734375,
|
|
506.0665283203125
|
|
],
|
|
"reprojection_error_px": 4.807735916646,
|
|
"confidence": 0.3958181457519531
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
1058.0,
|
|
503.25
|
|
],
|
|
"projected_center_px": [
|
|
1057.093017578125,
|
|
507.9202880859375
|
|
],
|
|
"reprojection_error_px": 4.757542214131158,
|
|
"confidence": 0.4015868133874269
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
565.5,
|
|
508.25
|
|
],
|
|
"projected_center_px": [
|
|
566.7963256835938,
|
|
515.41064453125
|
|
],
|
|
"reprojection_error_px": 7.277038572171055,
|
|
"confidence": 0.39176714563730675
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
291.0,
|
|
441.75
|
|
],
|
|
"projected_center_px": [
|
|
286.6570739746094,
|
|
452.2315673828125
|
|
],
|
|
"reprojection_error_px": 11.345671476931372,
|
|
"confidence": 0.3320910299473707
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1043.0,
|
|
424.5
|
|
],
|
|
"projected_center_px": [
|
|
1044.5272216796875,
|
|
432.2028503417969
|
|
],
|
|
"reprojection_error_px": 7.8527899148664195,
|
|
"confidence": 0.3579602826436361
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"observed_center_px": [
|
|
1162.0,
|
|
423.25
|
|
],
|
|
"projected_center_px": [
|
|
1162.9833984375,
|
|
430.5420837402344
|
|
],
|
|
"reprojection_error_px": 7.358094710009378,
|
|
"confidence": 0.343462485354258
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
567.0,
|
|
429.25
|
|
],
|
|
"projected_center_px": [
|
|
566.0086669921875,
|
|
438.91168212890625
|
|
],
|
|
"reprojection_error_px": 9.712406637512919,
|
|
"confidence": 0.32978974871919753
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"observed_center_px": [
|
|
1252.0,
|
|
279.5
|
|
],
|
|
"projected_center_px": [
|
|
1260.447021484375,
|
|
281.54229736328125
|
|
],
|
|
"reprojection_error_px": 8.690405656674399,
|
|
"confidence": 0.06057156860351561
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"observed_center_px": [
|
|
1046.0,
|
|
287.5
|
|
],
|
|
"projected_center_px": [
|
|
1051.3787841796875,
|
|
289.5981750488281
|
|
],
|
|
"reprojection_error_px": 5.773530790355364,
|
|
"confidence": 0.2459421895345052
|
|
},
|
|
{
|
|
"marker_id": 100,
|
|
"observed_center_px": [
|
|
1173.25,
|
|
281.5
|
|
],
|
|
"projected_center_px": [
|
|
1180.959228515625,
|
|
283.5194091796875
|
|
],
|
|
"reprojection_error_px": 7.969329817565074,
|
|
"confidence": 0.24407473894265982
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
271.75,
|
|
271.5
|
|
],
|
|
"projected_center_px": [
|
|
254.97537231445312,
|
|
275.8545837402344
|
|
],
|
|
"reprojection_error_px": 17.33062415319856,
|
|
"confidence": 0.23896265492072474
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
924.0,
|
|
285.25
|
|
],
|
|
"projected_center_px": [
|
|
927.1033325195312,
|
|
287.87750244140625
|
|
],
|
|
"reprojection_error_px": 4.066256485562117,
|
|
"confidence": 0.24909137483284013
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
881.75,
|
|
273.5
|
|
],
|
|
"projected_center_px": [
|
|
884.449951171875,
|
|
276.2117919921875
|
|
],
|
|
"reprojection_error_px": 3.826689449040964,
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"observed_center_px": [
|
|
319.25,
|
|
273.5
|
|
],
|
|
"projected_center_px": [
|
|
304.3033142089844,
|
|
277.7738952636719
|
|
],
|
|
"reprojection_error_px": 15.545725999778371,
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
842.25,
|
|
287.5
|
|
],
|
|
"projected_center_px": [
|
|
843.6996459960938,
|
|
290.4730529785156
|
|
],
|
|
"reprojection_error_px": 3.3076453145782225,
|
|
"confidence": 0.236365170112023
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
918.75,
|
|
251.75
|
|
],
|
|
"projected_center_px": [
|
|
922.25439453125,
|
|
254.33543395996094
|
|
],
|
|
"reprojection_error_px": 4.354910997020973,
|
|
"confidence": 0.21965114789131363
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
777.75,
|
|
267.25
|
|
],
|
|
"projected_center_px": [
|
|
777.5056762695312,
|
|
270.1708679199219
|
|
],
|
|
"reprojection_error_px": 2.9310686602157423,
|
|
"confidence": 0.21841319450965294
|
|
},
|
|
{
|
|
"marker_id": 104,
|
|
"observed_center_px": [
|
|
1184.0,
|
|
228.0
|
|
],
|
|
"projected_center_px": [
|
|
1194.4791259765625,
|
|
229.59585571289062
|
|
],
|
|
"reprojection_error_px": 10.59994512669913,
|
|
"confidence": 0.22417849731445313
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
825.5,
|
|
252.25
|
|
],
|
|
"projected_center_px": [
|
|
826.2460327148438,
|
|
255.0898895263672
|
|
],
|
|
"reprojection_error_px": 2.936245448457466,
|
|
"confidence": 0.22367025973033955
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
738.0,
|
|
217.0
|
|
],
|
|
"projected_center_px": [
|
|
736.6619262695312,
|
|
219.24119567871094
|
|
],
|
|
"reprojection_error_px": 2.6102489112042813,
|
|
"confidence": 0.21633306884765624
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"observed_center_px": [
|
|
765.0,
|
|
197.25
|
|
],
|
|
"projected_center_px": [
|
|
764.3829345703125,
|
|
199.1041717529297
|
|
],
|
|
"reprojection_error_px": 1.9541552225649244,
|
|
"confidence": 0.19874429613402733
|
|
},
|
|
{
|
|
"marker_id": 67,
|
|
"observed_center_px": [
|
|
859.25,
|
|
209.25
|
|
],
|
|
"projected_center_px": [
|
|
861.83447265625,
|
|
211.1758575439453
|
|
],
|
|
"reprojection_error_px": 3.2231081568068736,
|
|
"confidence": 0.19627771759033205
|
|
},
|
|
{
|
|
"marker_id": 70,
|
|
"observed_center_px": [
|
|
938.0,
|
|
183.5
|
|
],
|
|
"projected_center_px": [
|
|
943.478515625,
|
|
184.5645294189453
|
|
],
|
|
"reprojection_error_px": 5.580981664292509,
|
|
"confidence": 0.193995418548584
|
|
},
|
|
{
|
|
"marker_id": 88,
|
|
"observed_center_px": [
|
|
1105.0,
|
|
170.0
|
|
],
|
|
"projected_center_px": [
|
|
1116.3291015625,
|
|
170.88876342773438
|
|
],
|
|
"reprojection_error_px": 11.363909654864301,
|
|
"confidence": 0.2032033303021305
|
|
},
|
|
{
|
|
"marker_id": 98,
|
|
"observed_center_px": [
|
|
908.75,
|
|
172.5
|
|
],
|
|
"projected_center_px": [
|
|
913.4324340820312,
|
|
173.60345458984375
|
|
],
|
|
"reprojection_error_px": 4.8106965155177965,
|
|
"confidence": 0.1899538473288218
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
361.0,
|
|
159.75
|
|
],
|
|
"projected_center_px": [
|
|
341.61669921875,
|
|
160.71417236328125
|
|
],
|
|
"reprojection_error_px": 19.407266101193187,
|
|
"confidence": 0.17676838843571283
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
292.25,
|
|
162.5
|
|
],
|
|
"projected_center_px": [
|
|
269.2416687011719,
|
|
163.97216796875
|
|
],
|
|
"reprojection_error_px": 23.055380883534486,
|
|
"confidence": 0.1668050360320266
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"observed_center_px": [
|
|
978.25,
|
|
170.75
|
|
],
|
|
"projected_center_px": [
|
|
985.7574462890625,
|
|
171.85943603515625
|
|
],
|
|
"reprojection_error_px": 7.58897872570885,
|
|
"confidence": 0.17612778902053833
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
1059.25,
|
|
161.75
|
|
],
|
|
"projected_center_px": [
|
|
1069.4312744140625,
|
|
162.25901794433594
|
|
],
|
|
"reprojection_error_px": 10.193990777026418,
|
|
"confidence": 0.17612778902053833
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |