781 lines
18 KiB
JSON
781 lines
18 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:27:16Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\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": 41,
|
|
"used_marker_ids": [
|
|
63,
|
|
102,
|
|
64,
|
|
58,
|
|
92,
|
|
96,
|
|
103,
|
|
62,
|
|
51,
|
|
79,
|
|
205,
|
|
215,
|
|
217,
|
|
208,
|
|
210,
|
|
214,
|
|
206,
|
|
207,
|
|
94,
|
|
76,
|
|
100,
|
|
75,
|
|
68,
|
|
46,
|
|
77,
|
|
56,
|
|
50,
|
|
72,
|
|
104,
|
|
53,
|
|
84,
|
|
67,
|
|
60,
|
|
86,
|
|
88,
|
|
70,
|
|
98,
|
|
83,
|
|
61,
|
|
90,
|
|
91
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
5
|
|
],
|
|
"rms": [
|
|
0.01907936033299958,
|
|
0.004406018855345546,
|
|
0.004314518143428528,
|
|
0.0043140420811297,
|
|
0.0043140382857334795,
|
|
0.00431403825012993
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05,
|
|
3.125e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 10.080855405402433,
|
|
"residual_median_px": 7.666178890375805,
|
|
"residual_max_px": 22.989046238103537,
|
|
"sigma2_normalized": 2.0080209653466036e-05
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9994917511940002,
|
|
-0.026252489537000656,
|
|
0.018084952607750893
|
|
],
|
|
[
|
|
-0.015391695313155651,
|
|
-0.8942025303840637,
|
|
-0.447397917509079
|
|
],
|
|
[
|
|
0.02791691944003105,
|
|
0.4468921720981598,
|
|
-0.8941521644592285
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.3116981089115143,
|
|
0.07265101373195648,
|
|
1.4731476306915283
|
|
],
|
|
"rvec_rad": [
|
|
2.6775953619293467,
|
|
-0.029437908142569788,
|
|
0.032518319778428346
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.2715321481227875,
|
|
-0.6015562415122986,
|
|
1.3553591966629028
|
|
],
|
|
"position_mm": [
|
|
271.5321350097656,
|
|
-601.5562133789062,
|
|
1355.3592529296875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 153.44436645507812,
|
|
"pitch": -1.5997294187545776,
|
|
"yaw": -0.8822578191757202
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
0.00016364065602528252,
|
|
5.098548827170778e-07,
|
|
1.1900935061645774e-05,
|
|
2.8158531673113838e-06,
|
|
1.1158108687362259e-05,
|
|
3.889898471163244e-05
|
|
],
|
|
[
|
|
5.098548827166734e-07,
|
|
2.083062658698043e-05,
|
|
-9.743522701456504e-06,
|
|
-1.6455109457707553e-06,
|
|
-5.738682982601622e-06,
|
|
5.117189519786407e-06
|
|
],
|
|
[
|
|
1.190093506164585e-05,
|
|
-9.743522701456467e-06,
|
|
0.00027852916539602756,
|
|
1.7407658203829827e-05,
|
|
-1.8111648228385666e-05,
|
|
-0.0001005944203029666
|
|
],
|
|
[
|
|
2.8158531673114037e-06,
|
|
-1.6455109457707644e-06,
|
|
1.740765820382987e-05,
|
|
2.5016906380061552e-06,
|
|
-5.99028587923605e-07,
|
|
-3.6314145857915654e-06
|
|
],
|
|
[
|
|
1.1158108687362393e-05,
|
|
-5.738682982601601e-06,
|
|
-1.8111648228385645e-05,
|
|
-5.990285879236054e-07,
|
|
5.2401250758433446e-06,
|
|
9.890080877501274e-06
|
|
],
|
|
[
|
|
3.8898984711632404e-05,
|
|
5.117189519786469e-06,
|
|
-0.00010059442030296673,
|
|
-3.6314145857915882e-06,
|
|
9.890080877501263e-06,
|
|
7.368311319210127e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.7329396869592238,
|
|
0.26150126813165325,
|
|
0.9562203265072076
|
|
],
|
|
"tvec_std_m": [
|
|
0.00158167336640855,
|
|
0.002289131948106824,
|
|
0.008583886834767877
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.018494655116044482,
|
|
0.016406970254027264,
|
|
0.011401835031899584
|
|
],
|
|
"camera_center_std_mm": [
|
|
18.49465511604448,
|
|
16.406970254027264,
|
|
11.401835031899584
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.7807745822738648,
|
|
"pitch": 0.6847469438114869,
|
|
"yaw": 0.22765856688225003
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1246.0,
|
|
678.75
|
|
],
|
|
"projected_center_px": [
|
|
1232.3038330078125,
|
|
661.4005737304688
|
|
],
|
|
"reprojection_error_px": 22.104017330788253,
|
|
"confidence": 0.1539593300495616
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1078.25,
|
|
665.5
|
|
],
|
|
"projected_center_px": [
|
|
1070.650390625,
|
|
650.5348510742188
|
|
],
|
|
"reprojection_error_px": 16.78421118263827,
|
|
"confidence": 0.39637168760361213
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
220.5,
|
|
635.25
|
|
],
|
|
"projected_center_px": [
|
|
226.63784790039062,
|
|
629.1463012695312
|
|
],
|
|
"reprojection_error_px": 8.656114315364338,
|
|
"confidence": 0.4633649853376546
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
307.25,
|
|
668.0
|
|
],
|
|
"projected_center_px": [
|
|
314.7558898925781,
|
|
658.7494506835938
|
|
],
|
|
"reprojection_error_px": 11.912642265038038,
|
|
"confidence": 0.3638956157928849
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1064.5,
|
|
622.75
|
|
],
|
|
"projected_center_px": [
|
|
1058.6170654296875,
|
|
611.4583129882812
|
|
],
|
|
"reprojection_error_px": 12.73228631193926,
|
|
"confidence": 0.46896024883690896
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
716.75,
|
|
628.0
|
|
],
|
|
"projected_center_px": [
|
|
717.73095703125,
|
|
618.9609375
|
|
],
|
|
"reprojection_error_px": 9.092135479416541,
|
|
"confidence": 0.44372569385651617
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
382.0,
|
|
633.0
|
|
],
|
|
"projected_center_px": [
|
|
386.9942932128906,
|
|
625.8668212890625
|
|
],
|
|
"reprojection_error_px": 8.707766833034595,
|
|
"confidence": 0.45199802144368495
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
760.25,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
760.4144287109375,
|
|
606.6203002929688
|
|
],
|
|
"reprojection_error_px": 8.38131278386627,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
461.75,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
465.433349609375,
|
|
608.5264282226562
|
|
],
|
|
"reprojection_error_px": 7.448100153818052,
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
643.75,
|
|
598.75
|
|
],
|
|
"projected_center_px": [
|
|
645.111572265625,
|
|
592.3778686523438
|
|
],
|
|
"reprojection_error_px": 6.515975517626095,
|
|
"confidence": 0.41815762699787656
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
1181.0,
|
|
502.0
|
|
],
|
|
"projected_center_px": [
|
|
1178.4820556640625,
|
|
505.966796875
|
|
],
|
|
"reprojection_error_px": 4.698459441815956,
|
|
"confidence": 0.3958181457519531
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
566.0,
|
|
508.25
|
|
],
|
|
"projected_center_px": [
|
|
566.5778198242188,
|
|
515.4005737304688
|
|
],
|
|
"reprojection_error_px": 7.173881823959046,
|
|
"confidence": 0.39178239625208167
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
1058.0,
|
|
503.25
|
|
],
|
|
"projected_center_px": [
|
|
1057.043212890625,
|
|
507.83905029296875
|
|
],
|
|
"reprojection_error_px": 4.687731238463095,
|
|
"confidence": 0.4015868133874269
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
688.75,
|
|
507.0
|
|
],
|
|
"projected_center_px": [
|
|
689.9061279296875,
|
|
513.4992065429688
|
|
],
|
|
"reprojection_error_px": 6.601236056828396,
|
|
"confidence": 0.3776
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
291.0,
|
|
441.75
|
|
],
|
|
"projected_center_px": [
|
|
286.5350036621094,
|
|
452.27691650390625
|
|
],
|
|
"reprojection_error_px": 11.434691223535093,
|
|
"confidence": 0.3320910299473707
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
686.25,
|
|
427.5
|
|
],
|
|
"projected_center_px": [
|
|
686.1732177734375,
|
|
437.194580078125
|
|
],
|
|
"reprojection_error_px": 9.694884135537363,
|
|
"confidence": 0.3465862068965517
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1043.0,
|
|
424.5
|
|
],
|
|
"projected_center_px": [
|
|
1044.501708984375,
|
|
432.10040283203125
|
|
],
|
|
"reprojection_error_px": 7.747338451552329,
|
|
"confidence": 0.3579602826436361
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"observed_center_px": [
|
|
1162.0,
|
|
423.25
|
|
],
|
|
"projected_center_px": [
|
|
1163.049072265625,
|
|
430.4150695800781
|
|
],
|
|
"reprojection_error_px": 7.241462193912531,
|
|
"confidence": 0.343462485354258
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"observed_center_px": [
|
|
1251.75,
|
|
279.5
|
|
],
|
|
"projected_center_px": [
|
|
1260.712646484375,
|
|
281.3321533203125
|
|
],
|
|
"reprojection_error_px": 9.147995288204497,
|
|
"confidence": 0.05940673074575571
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"observed_center_px": [
|
|
1046.0,
|
|
287.5
|
|
],
|
|
"projected_center_px": [
|
|
1051.468017578125,
|
|
289.45587158203125
|
|
],
|
|
"reprojection_error_px": 5.807292818524085,
|
|
"confidence": 0.2459421895345052
|
|
},
|
|
{
|
|
"marker_id": 100,
|
|
"observed_center_px": [
|
|
1173.25,
|
|
281.5
|
|
],
|
|
"projected_center_px": [
|
|
1181.1507568359375,
|
|
283.3349609375
|
|
],
|
|
"reprojection_error_px": 8.111044336136008,
|
|
"confidence": 0.24407473894265982
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
271.75,
|
|
271.5
|
|
],
|
|
"projected_center_px": [
|
|
255.00450134277344,
|
|
275.96136474609375
|
|
],
|
|
"reprojection_error_px": 17.329613402406437,
|
|
"confidence": 0.23896265492072474
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
924.0,
|
|
285.25
|
|
],
|
|
"projected_center_px": [
|
|
927.12109375,
|
|
287.7731018066406
|
|
],
|
|
"reprojection_error_px": 4.013386216521187,
|
|
"confidence": 0.24909137483284013
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
881.75,
|
|
273.5
|
|
],
|
|
"projected_center_px": [
|
|
884.4531860351562,
|
|
276.1187438964844
|
|
],
|
|
"reprojection_error_px": 3.763646414853278,
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"observed_center_px": [
|
|
319.25,
|
|
273.5
|
|
],
|
|
"projected_center_px": [
|
|
304.3083190917969,
|
|
277.864501953125
|
|
],
|
|
"reprojection_error_px": 15.566075473972035,
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
842.25,
|
|
287.5
|
|
],
|
|
"projected_center_px": [
|
|
843.6806030273438,
|
|
290.3947448730469
|
|
],
|
|
"reprojection_error_px": 3.2289584856229214,
|
|
"confidence": 0.236365170112023
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
918.75,
|
|
251.25
|
|
],
|
|
"projected_center_px": [
|
|
922.2841796875,
|
|
254.2263946533203
|
|
],
|
|
"reprojection_error_px": 4.620535812635948,
|
|
"confidence": 0.2211554500544793
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
777.75,
|
|
267.25
|
|
],
|
|
"projected_center_px": [
|
|
777.474609375,
|
|
270.1112976074219
|
|
],
|
|
"reprojection_error_px": 2.874519785038196,
|
|
"confidence": 0.21841319450965294
|
|
},
|
|
{
|
|
"marker_id": 104,
|
|
"observed_center_px": [
|
|
1184.0,
|
|
228.0
|
|
],
|
|
"projected_center_px": [
|
|
1194.704345703125,
|
|
229.38653564453125
|
|
],
|
|
"reprojection_error_px": 10.793771260572754,
|
|
"confidence": 0.22417849731445313
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
825.5,
|
|
252.25
|
|
],
|
|
"projected_center_px": [
|
|
826.2362670898438,
|
|
255.01295471191406
|
|
],
|
|
"reprojection_error_px": 2.85937195336233,
|
|
"confidence": 0.22367025973033955
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
738.0,
|
|
217.0
|
|
],
|
|
"projected_center_px": [
|
|
736.643798828125,
|
|
219.19264221191406
|
|
],
|
|
"reprojection_error_px": 2.5781701821374234,
|
|
"confidence": 0.21633306884765624
|
|
},
|
|
{
|
|
"marker_id": 67,
|
|
"observed_center_px": [
|
|
859.25,
|
|
209.25
|
|
],
|
|
"projected_center_px": [
|
|
861.8567504882812,
|
|
211.0812530517578
|
|
],
|
|
"reprojection_error_px": 3.1856923655191247,
|
|
"confidence": 0.19627771759033205
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"observed_center_px": [
|
|
764.75,
|
|
197.5
|
|
],
|
|
"projected_center_px": [
|
|
764.3798217773438,
|
|
199.0445098876953
|
|
],
|
|
"reprojection_error_px": 1.588251462998705,
|
|
"confidence": 0.18913971961975098
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
690.25,
|
|
192.0
|
|
],
|
|
"projected_center_px": [
|
|
686.4989013671875,
|
|
193.5018310546875
|
|
],
|
|
"reprojection_error_px": 4.040573903532959,
|
|
"confidence": 0.18966921411877496
|
|
},
|
|
{
|
|
"marker_id": 88,
|
|
"observed_center_px": [
|
|
1105.0,
|
|
169.75
|
|
],
|
|
"projected_center_px": [
|
|
1116.514404296875,
|
|
170.68841552734375
|
|
],
|
|
"reprojection_error_px": 11.552581097480049,
|
|
"confidence": 0.20782158780899712
|
|
},
|
|
{
|
|
"marker_id": 70,
|
|
"observed_center_px": [
|
|
938.0,
|
|
183.5
|
|
],
|
|
"projected_center_px": [
|
|
943.5486450195312,
|
|
184.43507385253906
|
|
],
|
|
"reprojection_error_px": 5.626884098901558,
|
|
"confidence": 0.193995418548584
|
|
},
|
|
{
|
|
"marker_id": 98,
|
|
"observed_center_px": [
|
|
908.75,
|
|
172.5
|
|
],
|
|
"projected_center_px": [
|
|
913.4927368164062,
|
|
173.48379516601562
|
|
],
|
|
"reprojection_error_px": 4.8436974965795505,
|
|
"confidence": 0.1899538473288218
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
361.0,
|
|
159.75
|
|
],
|
|
"projected_center_px": [
|
|
341.6620178222656,
|
|
160.82278442382812
|
|
],
|
|
"reprojection_error_px": 19.367715950167707,
|
|
"confidence": 0.17676838843571283
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
292.25,
|
|
162.5
|
|
],
|
|
"projected_center_px": [
|
|
269.31732177734375,
|
|
164.10888671875
|
|
],
|
|
"reprojection_error_px": 22.989046238103537,
|
|
"confidence": 0.1668050360320266
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"observed_center_px": [
|
|
978.25,
|
|
170.75
|
|
],
|
|
"projected_center_px": [
|
|
985.855712890625,
|
|
171.71095275878906
|
|
],
|
|
"reprojection_error_px": 7.666178890375805,
|
|
"confidence": 0.17612778902053833
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
1059.25,
|
|
161.75
|
|
],
|
|
"projected_center_px": [
|
|
1069.586181640625,
|
|
162.07484436035156
|
|
],
|
|
"reprojection_error_px": 10.341284966890987,
|
|
"confidence": 0.17612778902053833
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |