355 lines
8.2 KiB
JSON
355 lines
8.2 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:34:54Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_c_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "c",
|
|
"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": 11,
|
|
"used_marker_ids": [
|
|
58,
|
|
62,
|
|
64,
|
|
96,
|
|
103,
|
|
51,
|
|
79,
|
|
208,
|
|
210,
|
|
214,
|
|
50
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.007689844267727678,
|
|
0.0017594816565485293,
|
|
0.0017344375898373505,
|
|
0.001734437447568333
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 4.905262201682031,
|
|
"residual_median_px": 4.58310780283026,
|
|
"residual_max_px": 7.574156689844562,
|
|
"sigma2_normalized": 4.1363757318480876e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9936490058898926,
|
|
0.11246737092733383,
|
|
-0.003575508249923587
|
|
],
|
|
[
|
|
0.029424840584397316,
|
|
-0.2903757095336914,
|
|
-0.956460177898407
|
|
],
|
|
[
|
|
-0.10860881209373474,
|
|
0.950280487537384,
|
|
-0.29184088110923767
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.19804048538208008,
|
|
0.10885385423898697,
|
|
1.0058872699737549
|
|
],
|
|
"rvec_rad": [
|
|
1.8649099432902438,
|
|
0.1027290421584149,
|
|
-0.08122071635199711
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.30282795429229736,
|
|
-0.901993453502655,
|
|
0.39696529507637024
|
|
],
|
|
"position_mm": [
|
|
302.82794189453125,
|
|
-901.9934692382812,
|
|
396.9653015136719
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 107.07225036621094,
|
|
"pitch": 6.235125541687012,
|
|
"yaw": 1.6961990594863892
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
4.853806297427806e-05,
|
|
7.1116887538951014e-06,
|
|
1.294968532251923e-05,
|
|
-5.939210837441607e-08,
|
|
-7.903056718324612e-06,
|
|
1.4710156182646798e-07
|
|
],
|
|
[
|
|
7.111688753895116e-06,
|
|
1.4323491441730118e-05,
|
|
-6.28666436870708e-06,
|
|
1.7002061256059046e-06,
|
|
-2.0174436294198278e-06,
|
|
3.946474252918184e-06
|
|
],
|
|
[
|
|
1.2949685322519099e-05,
|
|
-6.286664368707071e-06,
|
|
4.483344243207772e-05,
|
|
-2.6691134479054458e-06,
|
|
-6.386444427340028e-06,
|
|
-1.09244708190295e-05
|
|
],
|
|
[
|
|
-5.939210837441306e-08,
|
|
1.7002061256059023e-06,
|
|
-2.6691134479054403e-06,
|
|
5.745290866622306e-07,
|
|
1.3228982550218958e-07,
|
|
9.851500640307736e-07
|
|
],
|
|
[
|
|
-7.9030567183246e-06,
|
|
-2.017443629419833e-06,
|
|
-6.386444427340037e-06,
|
|
1.3228982550218935e-07,
|
|
2.55608016681665e-06,
|
|
2.280807092810088e-06
|
|
],
|
|
[
|
|
1.4710156182650009e-07,
|
|
3.946474252918186e-06,
|
|
-1.09244708190295e-05,
|
|
9.851500640307742e-07,
|
|
2.2808070928100864e-06,
|
|
1.0082831141531715e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.39917547688858585,
|
|
0.21684383472732283,
|
|
0.3836398174185139
|
|
],
|
|
"tvec_std_m": [
|
|
0.0007579769697439564,
|
|
0.0015987745828654676,
|
|
0.0031753474048569416
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.005416861768072064,
|
|
0.0033994420480930572,
|
|
0.006172338913914243
|
|
],
|
|
"camera_center_std_mm": [
|
|
5.416861768072064,
|
|
3.399442048093057,
|
|
6.172338913914243
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.433907119459096,
|
|
"pitch": 0.3143030588387033,
|
|
"yaw": 0.22655677177047395
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
283.0,
|
|
1034.0
|
|
],
|
|
"projected_center_px": [
|
|
288.77545166015625,
|
|
1036.885986328125
|
|
],
|
|
"reprojection_error_px": 6.456373514979288,
|
|
"confidence": 0.34134185624863755
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
1171.5,
|
|
1028.5
|
|
],
|
|
"projected_center_px": [
|
|
1177.805419921875,
|
|
1030.3436279296875
|
|
],
|
|
"reprojection_error_px": 6.569420395613448,
|
|
"confidence": 0.3586255184214969
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
149.5,
|
|
990.0
|
|
],
|
|
"projected_center_px": [
|
|
146.01351928710938,
|
|
989.7762451171875
|
|
],
|
|
"reprojection_error_px": 3.4936533899259032,
|
|
"confidence": 0.6490791106034549
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
1097.5,
|
|
1038.75
|
|
],
|
|
"projected_center_px": [
|
|
1091.5101318359375,
|
|
1040.2813720703125
|
|
],
|
|
"reprojection_error_px": 6.182525458142704,
|
|
"confidence": 0.24678869996591526
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
439.0,
|
|
1009.0
|
|
],
|
|
"projected_center_px": [
|
|
443.1100769042969,
|
|
1005.2846069335938
|
|
],
|
|
"reprojection_error_px": 5.540476315005256,
|
|
"confidence": 0.547329500147977
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
598.5,
|
|
996.25
|
|
],
|
|
"projected_center_px": [
|
|
598.0252685546875,
|
|
994.056884765625
|
|
],
|
|
"reprojection_error_px": 2.2439082816408087,
|
|
"confidence": 0.5232849066860699
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
946.0,
|
|
998.25
|
|
],
|
|
"projected_center_px": [
|
|
946.7294311523438,
|
|
997.1697387695312
|
|
],
|
|
"reprojection_error_px": 1.3034700349694996,
|
|
"confidence": 0.46608441082075647
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1042.5,
|
|
866.5
|
|
],
|
|
"projected_center_px": [
|
|
1034.926513671875,
|
|
866.3992309570312
|
|
],
|
|
"reprojection_error_px": 7.574156689844562,
|
|
"confidence": 0.37574692421268213
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
358.0,
|
|
769.5
|
|
],
|
|
"projected_center_px": [
|
|
353.7528381347656,
|
|
771.2223510742188
|
|
],
|
|
"reprojection_error_px": 4.58310780283026,
|
|
"confidence": 0.27427753591887916
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1026.75,
|
|
793.25
|
|
],
|
|
"projected_center_px": [
|
|
1028.543212890625,
|
|
791.8041381835938
|
|
],
|
|
"reprojection_error_px": 2.303503606084707,
|
|
"confidence": 0.2441696886757621
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
1402.0,
|
|
693.75
|
|
],
|
|
"projected_center_px": [
|
|
1404.7412109375,
|
|
694.6343994140625
|
|
],
|
|
"reprojection_error_px": 2.880347153983999,
|
|
"confidence": 0.03320002493960217
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |