537 lines
12 KiB
JSON
537 lines
12 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:45:50Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\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": [
|
|
[
|
|
1992.8416748046875,
|
|
0.0,
|
|
719.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
1997.40380859375,
|
|
537.7935791015625
|
|
],
|
|
[
|
|
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": 24,
|
|
"used_marker_ids": [
|
|
86,
|
|
64,
|
|
72,
|
|
53,
|
|
69,
|
|
103,
|
|
208,
|
|
58,
|
|
56,
|
|
46,
|
|
68,
|
|
95,
|
|
217,
|
|
62,
|
|
54,
|
|
205,
|
|
85,
|
|
92,
|
|
57,
|
|
59,
|
|
48,
|
|
71,
|
|
63,
|
|
80
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.009258723025635594,
|
|
0.0014210356952154815,
|
|
0.0012493128981905044,
|
|
0.001249306015645948
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.5353477634189536,
|
|
"residual_median_px": 3.522769363782656,
|
|
"residual_max_px": 5.79906745441176,
|
|
"sigma2_normalized": 1.7837320234926735e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7074983716011047,
|
|
-0.7067009806632996,
|
|
0.004447129555046558
|
|
],
|
|
[
|
|
-0.6407499313354492,
|
|
0.6387929320335388,
|
|
-0.4258909523487091
|
|
],
|
|
[
|
|
0.29813674092292786,
|
|
-0.30416667461395264,
|
|
-0.9047635793685913
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.0009112151456065476,
|
|
0.3326437473297119,
|
|
1.3835103511810303
|
|
],
|
|
"rvec_rad": [
|
|
1.1166515999356956,
|
|
-2.6941950599171753,
|
|
0.6050090520414879
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.19868911802768707,
|
|
0.20897121727466583,
|
|
1.3934156894683838
|
|
],
|
|
"position_mm": [
|
|
-198.68911743164062,
|
|
208.97122192382812,
|
|
1393.4156494140625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.41819763183594,
|
|
"pitch": -17.34572410583496,
|
|
"yaw": -137.83424377441406
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
9.98531472699052e-06,
|
|
-1.431516530064478e-05,
|
|
9.222611642238843e-06,
|
|
1.21687690767508e-06,
|
|
2.375223043944549e-06,
|
|
8.608180595661275e-06
|
|
],
|
|
[
|
|
-1.4315165300644898e-05,
|
|
3.9185469888068646e-05,
|
|
-2.7735001585138018e-05,
|
|
-6.1838905944793704e-06,
|
|
-3.6661949557709048e-06,
|
|
-2.0459349519318858e-05
|
|
],
|
|
[
|
|
9.222611642238823e-06,
|
|
-2.7735001585138208e-05,
|
|
7.962489478264622e-05,
|
|
8.92586582077697e-06,
|
|
-2.9330746501784293e-06,
|
|
4.553387885206727e-06
|
|
],
|
|
[
|
|
1.2168769076751045e-06,
|
|
-6.1838905944794196e-06,
|
|
8.92586582077693e-06,
|
|
1.8073225223300978e-06,
|
|
-3.627966656549927e-08,
|
|
1.5868781991715987e-06
|
|
],
|
|
[
|
|
2.3752230439445645e-06,
|
|
-3.6661949557708645e-06,
|
|
-2.9330746501784576e-06,
|
|
-3.627966656551186e-08,
|
|
1.227551388215965e-06,
|
|
3.028286182234542e-06
|
|
],
|
|
[
|
|
8.608180595661353e-06,
|
|
-2.0459349519318814e-05,
|
|
4.5533878852065595e-06,
|
|
1.586878199171561e-06,
|
|
3.0282861822345777e-06,
|
|
1.7125768459625926e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.18105207701827192,
|
|
0.3586618315025251,
|
|
0.5112661833247805
|
|
],
|
|
"tvec_std_m": [
|
|
0.0013443669596989126,
|
|
0.0011079491812425175,
|
|
0.004138329186957694
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.008825927205931929,
|
|
0.010963671914864697,
|
|
0.004524104486006729
|
|
],
|
|
"camera_center_std_mm": [
|
|
8.82592720593193,
|
|
10.963671914864697,
|
|
4.5241044860067285
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.4633799384185807,
|
|
"pitch": 0.343809988520626,
|
|
"yaw": 0.13874234430653562
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
70.5,
|
|
959.0
|
|
],
|
|
"projected_center_px": [
|
|
72.09856414794922,
|
|
956.2841796875
|
|
],
|
|
"reprojection_error_px": 3.151362769485006,
|
|
"confidence": 0.5262168023657781
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
921.5,
|
|
859.25
|
|
],
|
|
"projected_center_px": [
|
|
922.7077026367188,
|
|
863.3631591796875
|
|
],
|
|
"reprojection_error_px": 4.2867964841108295,
|
|
"confidence": 0.5876289194459208
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
115.25,
|
|
787.75
|
|
],
|
|
"projected_center_px": [
|
|
114.29695892333984,
|
|
789.0098876953125
|
|
],
|
|
"reprojection_error_px": 1.5797481756917438,
|
|
"confidence": 0.49122811795656307
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
54.0,
|
|
764.5
|
|
],
|
|
"projected_center_px": [
|
|
57.447086334228516,
|
|
764.1121826171875
|
|
],
|
|
"reprojection_error_px": 3.468833596187128,
|
|
"confidence": 0.32594286952973284
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
976.5,
|
|
754.75
|
|
],
|
|
"projected_center_px": [
|
|
978.0035400390625,
|
|
751.2153930664062
|
|
],
|
|
"reprojection_error_px": 3.8411038548928973,
|
|
"confidence": 0.5319288269685942
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
801.0,
|
|
744.25
|
|
],
|
|
"projected_center_px": [
|
|
797.3609008789062,
|
|
746.85595703125
|
|
],
|
|
"reprojection_error_px": 4.4759417402225665,
|
|
"confidence": 0.5872237273710109
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
474.75,
|
|
603.75
|
|
],
|
|
"projected_center_px": [
|
|
478.3053894042969,
|
|
604.7418823242188
|
|
],
|
|
"reprojection_error_px": 3.6911548817794246,
|
|
"confidence": 0.4906752251774617
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
880.5,
|
|
773.0
|
|
],
|
|
"projected_center_px": [
|
|
879.1823120117188,
|
|
769.6748657226562
|
|
],
|
|
"reprojection_error_px": 3.5767051313781835,
|
|
"confidence": 0.5335095921090989
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
97.25,
|
|
709.5
|
|
],
|
|
"projected_center_px": [
|
|
94.27033996582031,
|
|
713.9109497070312
|
|
],
|
|
"reprojection_error_px": 5.323049054559498,
|
|
"confidence": 0.4578243545603675
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
51.25,
|
|
694.5
|
|
],
|
|
"projected_center_px": [
|
|
45.48712158203125,
|
|
695.1468505859375
|
|
],
|
|
"reprojection_error_px": 5.79906745441176,
|
|
"confidence": 0.2746946127362205
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
28.25,
|
|
651.75
|
|
],
|
|
"projected_center_px": [
|
|
31.748443603515625,
|
|
650.067138671875
|
|
],
|
|
"reprojection_error_px": 3.882155315888074,
|
|
"confidence": 0.058885542403194435
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
802.0,
|
|
598.75
|
|
],
|
|
"projected_center_px": [
|
|
800.2178955078125,
|
|
602.3417358398438
|
|
],
|
|
"reprojection_error_px": 4.009546453689364,
|
|
"confidence": 0.5062704988708202
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
229.0,
|
|
365.5
|
|
],
|
|
"projected_center_px": [
|
|
227.5218048095703,
|
|
361.4461364746094
|
|
],
|
|
"reprojection_error_px": 4.314958922574115,
|
|
"confidence": 0.403469130041854
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
515.5,
|
|
508.0
|
|
],
|
|
"projected_center_px": [
|
|
515.4136352539062,
|
|
503.8336486816406
|
|
],
|
|
"reprojection_error_px": 4.167246354292333,
|
|
"confidence": 0.4218000126418067
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
709.25,
|
|
434.5
|
|
],
|
|
"projected_center_px": [
|
|
709.67626953125,
|
|
430.8776550292969
|
|
],
|
|
"reprojection_error_px": 3.6473399622259395,
|
|
"confidence": 0.4186853520847334
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
148.0,
|
|
285.0
|
|
],
|
|
"projected_center_px": [
|
|
149.80377197265625,
|
|
286.1125793457031
|
|
],
|
|
"reprojection_error_px": 2.1192984994628326,
|
|
"confidence": 0.38107014005487916
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
555.75,
|
|
319.5
|
|
],
|
|
"projected_center_px": [
|
|
556.2955322265625,
|
|
321.7366943359375
|
|
],
|
|
"reprojection_error_px": 2.302261271583469,
|
|
"confidence": 0.378986473237694
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
328.5,
|
|
309.75
|
|
],
|
|
"projected_center_px": [
|
|
327.9501647949219,
|
|
311.9439697265625
|
|
],
|
|
"reprojection_error_px": 2.2618182760372316,
|
|
"confidence": 0.3823929240812279
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
520.75,
|
|
213.25
|
|
],
|
|
"projected_center_px": [
|
|
521.4791259765625,
|
|
214.71652221679688
|
|
],
|
|
"reprojection_error_px": 1.6377765726914766,
|
|
"confidence": 0.34202700092640825
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
424.75,
|
|
258.5
|
|
],
|
|
"projected_center_px": [
|
|
428.0319519042969,
|
|
258.0758056640625
|
|
],
|
|
"reprojection_error_px": 3.3092520509564305,
|
|
"confidence": 0.3878121905105899
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
415.75,
|
|
187.75
|
|
],
|
|
"projected_center_px": [
|
|
416.3456726074219,
|
|
185.02688598632812
|
|
],
|
|
"reprojection_error_px": 2.787503504336618,
|
|
"confidence": 0.30502208755989735
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
337.0,
|
|
166.0
|
|
],
|
|
"projected_center_px": [
|
|
337.18463134765625,
|
|
168.11569213867188
|
|
],
|
|
"reprojection_error_px": 2.123733024693861,
|
|
"confidence": 0.2958320974375416
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
276.0,
|
|
183.25
|
|
],
|
|
"projected_center_px": [
|
|
273.4526672363281,
|
|
181.7027130126953
|
|
],
|
|
"reprojection_error_px": 2.9804364160234336,
|
|
"confidence": 0.2956054401706931
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
299.5,
|
|
56.75
|
|
],
|
|
"projected_center_px": [
|
|
298.1875,
|
|
58.199134826660156
|
|
],
|
|
"reprojection_error_px": 1.9551593274818708,
|
|
"confidence": 0.23609848651755727
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |