341 lines
7.9 KiB
JSON
341 lines
7.9 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T14:49:28Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_e_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "e",
|
|
"camera_matrix": [
|
|
[
|
|
2001.2965087890625,
|
|
0.0,
|
|
720.3994750976562
|
|
],
|
|
[
|
|
0.0,
|
|
1994.771728515625,
|
|
538.7074584960938
|
|
],
|
|
[
|
|
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": 10,
|
|
"used_marker_ids": [
|
|
63,
|
|
48,
|
|
57,
|
|
102,
|
|
59,
|
|
92,
|
|
85,
|
|
105,
|
|
206,
|
|
62
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.007370594126862568,
|
|
0.0014122202964408548,
|
|
0.0012554659575496172,
|
|
0.0012554478833174162
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.5597014598992986,
|
|
"residual_median_px": 2.730683785550025,
|
|
"residual_max_px": 6.132337289670653,
|
|
"sigma2_normalized": 2.2516419809736262e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.6293967962265015,
|
|
0.7770829796791077,
|
|
-0.0013262672582641244
|
|
],
|
|
[
|
|
0.20631922781467438,
|
|
-0.16875281929969788,
|
|
-0.9638230204582214
|
|
],
|
|
[
|
|
-0.7491942644119263,
|
|
0.6063534617424011,
|
|
-0.26653963327407837
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.05547819659113884,
|
|
-0.011175611987709999,
|
|
1.556262731552124
|
|
],
|
|
"rvec_rad": [
|
|
1.7032109266240512,
|
|
0.8112317064009149,
|
|
-0.6191221306487373
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
1.2031667232513428,
|
|
-0.9024200439453125,
|
|
0.40396082401275635
|
|
],
|
|
"position_mm": [
|
|
1203.166748046875,
|
|
-902.4200439453125,
|
|
403.9608154296875
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 113.7292251586914,
|
|
"pitch": 48.5206298828125,
|
|
"yaw": 18.149385452270508
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.837732102724012e-05,
|
|
3.3577039275637555e-06,
|
|
2.681735898051071e-06,
|
|
-1.5888626983625057e-06,
|
|
-1.6198224812585184e-05,
|
|
4.13371634622807e-06
|
|
],
|
|
[
|
|
3.3577039275641286e-06,
|
|
2.171424905477538e-05,
|
|
2.4965958728795643e-06,
|
|
8.862856242001983e-06,
|
|
-8.984908540541688e-06,
|
|
3.1084671269819246e-06
|
|
],
|
|
[
|
|
2.681735898051652e-06,
|
|
2.496595872878859e-06,
|
|
5.43964511067286e-05,
|
|
-1.521460639684846e-05,
|
|
-1.168510401293232e-05,
|
|
-5.595032329717747e-06
|
|
],
|
|
[
|
|
-1.588862698362518e-06,
|
|
8.86285624200223e-06,
|
|
-1.5214606396848098e-05,
|
|
9.233254943490658e-06,
|
|
9.09874769609657e-07,
|
|
5.446727039887246e-06
|
|
],
|
|
[
|
|
-1.6198224812585417e-05,
|
|
-8.984908540541402e-06,
|
|
-1.168510401293233e-05,
|
|
9.098747696098066e-07,
|
|
1.2139732533110525e-05,
|
|
1.760118840484623e-06
|
|
],
|
|
[
|
|
4.133716346228022e-06,
|
|
3.1084671269820614e-06,
|
|
-5.595032329717675e-06,
|
|
5.44672703988729e-06,
|
|
1.76011884048458e-06,
|
|
1.8538999503979705e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.3549440986474674,
|
|
0.2669900273095479,
|
|
0.4225790045793473
|
|
],
|
|
"tvec_std_m": [
|
|
0.0030386271478236118,
|
|
0.003484211895552641,
|
|
0.004305693846986767
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.004881924581352153,
|
|
0.00517027791217296,
|
|
0.006397088643746244
|
|
],
|
|
"camera_center_std_mm": [
|
|
4.881924581352153,
|
|
5.17027791217296,
|
|
6.397088643746244
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.5155802781227672,
|
|
"pitch": 0.33523773574682797,
|
|
"yaw": 0.44612181749655255
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
1316.0,
|
|
1051.5
|
|
],
|
|
"projected_center_px": [
|
|
1320.0306396484375,
|
|
1052.912841796875
|
|
],
|
|
"reprojection_error_px": 4.2710862691537095,
|
|
"confidence": 0.11983925915212114
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
1024.0,
|
|
1030.75
|
|
],
|
|
"projected_center_px": [
|
|
1023.016845703125,
|
|
1033.690185546875
|
|
],
|
|
"reprojection_error_px": 3.100206996559491,
|
|
"confidence": 0.49814741057655926
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
812.5,
|
|
990.25
|
|
],
|
|
"projected_center_px": [
|
|
812.794189453125,
|
|
988.9957885742188
|
|
],
|
|
"reprojection_error_px": 1.28825220158563,
|
|
"confidence": 0.803300723569262
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1106.0,
|
|
937.0
|
|
],
|
|
"projected_center_px": [
|
|
1103.9293212890625,
|
|
935.0552368164062
|
|
],
|
|
"reprojection_error_px": 2.8407418334286354,
|
|
"confidence": 0.6148113550449494
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
990.25,
|
|
951.5
|
|
],
|
|
"projected_center_px": [
|
|
984.7327880859375,
|
|
951.7299194335938
|
|
],
|
|
"reprojection_error_px": 5.522000565974008,
|
|
"confidence": 0.6757165868826068
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1149.0,
|
|
911.5
|
|
],
|
|
"projected_center_px": [
|
|
1148.822998046875,
|
|
908.9539184570312
|
|
],
|
|
"reprojection_error_px": 2.5522266582057704,
|
|
"confidence": 0.5115028870945302
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
759.25,
|
|
885.5
|
|
],
|
|
"projected_center_px": [
|
|
758.8181762695312,
|
|
883.472412109375
|
|
],
|
|
"reprojection_error_px": 2.073061597831836,
|
|
"confidence": 0.629679244356207
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
849.25,
|
|
871.25
|
|
],
|
|
"projected_center_px": [
|
|
855.3590698242188,
|
|
871.78369140625
|
|
],
|
|
"reprojection_error_px": 6.132337289670653,
|
|
"confidence": 0.5514968675104395
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1374.75,
|
|
772.5
|
|
],
|
|
"projected_center_px": [
|
|
1372.91845703125,
|
|
772.5122680664062
|
|
],
|
|
"reprojection_error_px": 1.8315840553550666,
|
|
"confidence": 0.19587610394461719
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
829.5,
|
|
757.75
|
|
],
|
|
"projected_center_px": [
|
|
830.0332641601562,
|
|
760.3157958984375
|
|
],
|
|
"reprojection_error_px": 2.620625737671415,
|
|
"confidence": 0.3623640109507633
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |