593 lines
14 KiB
JSON
593 lines
14 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:34:55Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_f_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"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": 28,
|
|
"used_marker_ids": [
|
|
68,
|
|
208,
|
|
46,
|
|
56,
|
|
53,
|
|
97,
|
|
62,
|
|
47,
|
|
54,
|
|
96,
|
|
214,
|
|
79,
|
|
55,
|
|
72,
|
|
66,
|
|
95,
|
|
103,
|
|
82,
|
|
73,
|
|
58,
|
|
69,
|
|
210,
|
|
64,
|
|
52,
|
|
83,
|
|
81,
|
|
75,
|
|
61
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.008619315664544939,
|
|
0.0014585040575107986,
|
|
0.0013565843422630483,
|
|
0.001356582294155214
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.8367119022101477,
|
|
"residual_median_px": 3.6764038566508845,
|
|
"residual_max_px": 6.509846790962543,
|
|
"sigma2_normalized": 2.0611533833033003e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.31569141149520874,
|
|
0.9488585591316223,
|
|
0.002532672369852662
|
|
],
|
|
[
|
|
0.9174546599388123,
|
|
-0.3045599162578583,
|
|
-0.25596922636032104
|
|
],
|
|
[
|
|
-0.24210724234580994,
|
|
0.08313090354204178,
|
|
-0.9666815996170044
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.12675493955612183,
|
|
-0.19858995079994202,
|
|
1.4972277879714966
|
|
],
|
|
"rvec_rad": [
|
|
2.3697984883782643,
|
|
1.7096639958145474,
|
|
-0.21946585571924707
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.5046715140342712,
|
|
-0.30522096157073975,
|
|
1.3961886167526245
|
|
],
|
|
"position_mm": [
|
|
504.6715087890625,
|
|
-305.220947265625,
|
|
1396.1885986328125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 175.08486938476562,
|
|
"pitch": 14.010944366455078,
|
|
"yaw": 71.01192474365234
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.0152779355972385e-05,
|
|
1.7397048372487757e-05,
|
|
-1.7329131518561111e-06,
|
|
-2.7816271260424396e-07,
|
|
8.457704609800396e-08,
|
|
1.777896347661346e-06
|
|
],
|
|
[
|
|
1.7397048372487696e-05,
|
|
1.5454772826794287e-05,
|
|
-3.825644355046075e-06,
|
|
5.772167916707081e-07,
|
|
-7.572926482361501e-08,
|
|
1.6833348792003386e-06
|
|
],
|
|
[
|
|
-1.7329131518547758e-06,
|
|
-3.825644355044866e-06,
|
|
0.00014481354376972373,
|
|
9.944835533000116e-07,
|
|
-2.0497490693647392e-06,
|
|
-2.4941364153465537e-05
|
|
],
|
|
[
|
|
-2.781627126042357e-07,
|
|
5.772167916707134e-07,
|
|
9.944835532999595e-07,
|
|
3.323025804056274e-07,
|
|
-1.975929209705857e-08,
|
|
3.2307019482834386e-07
|
|
],
|
|
[
|
|
8.457704609800708e-08,
|
|
-7.572926482364424e-08,
|
|
-2.0497490693647413e-06,
|
|
-1.975929209706238e-08,
|
|
1.960429899626621e-07,
|
|
4.963700401950597e-07
|
|
],
|
|
[
|
|
1.7778963476611272e-06,
|
|
1.683334879200141e-06,
|
|
-2.494136415346559e-05,
|
|
3.230701948283344e-07,
|
|
4.963700401950527e-07,
|
|
8.270796977543194e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.3146199859199812,
|
|
0.22524437034871536,
|
|
0.6894888114066484
|
|
],
|
|
"tvec_std_m": [
|
|
0.0005764569198176282,
|
|
0.00044276742197530984,
|
|
0.0028758993336942783
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.010378124765309676,
|
|
0.011025542524899571,
|
|
0.004572408570898003
|
|
],
|
|
"camera_center_std_mm": [
|
|
10.378124765309675,
|
|
11.02554252489957,
|
|
4.572408570898004
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.46914988360062004,
|
|
"pitch": 0.4149277932069311,
|
|
"yaw": 0.12446520399134609
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
1395.0,
|
|
942.0
|
|
],
|
|
"projected_center_px": [
|
|
1390.301025390625,
|
|
942.7306518554688
|
|
],
|
|
"reprojection_error_px": 4.755440517286581,
|
|
"confidence": 0.31271873405079975
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
937.25,
|
|
754.25
|
|
],
|
|
"projected_center_px": [
|
|
934.7742309570312,
|
|
750.9701538085938
|
|
],
|
|
"reprojection_error_px": 4.1093580269191055,
|
|
"confidence": 0.7307341254520026
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
1383.75,
|
|
882.5
|
|
],
|
|
"projected_center_px": [
|
|
1388.6597900390625,
|
|
885.0460205078125
|
|
],
|
|
"reprojection_error_px": 5.5306652993902246,
|
|
"confidence": 0.46634796204782664
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
1341.75,
|
|
844.0
|
|
],
|
|
"projected_center_px": [
|
|
1345.36962890625,
|
|
840.9238891601562
|
|
],
|
|
"reprojection_error_px": 4.750175924948969,
|
|
"confidence": 0.6720101269988878
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1399.75,
|
|
806.0
|
|
],
|
|
"projected_center_px": [
|
|
1395.0841064453125,
|
|
804.8640747070312
|
|
],
|
|
"reprojection_error_px": 4.802175437744908,
|
|
"confidence": 0.25536384825957736
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
554.75,
|
|
818.0
|
|
],
|
|
"projected_center_px": [
|
|
552.849609375,
|
|
815.2694702148438
|
|
],
|
|
"reprojection_error_px": 3.326751784430772,
|
|
"confidence": 0.7144285455619288
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
845.25,
|
|
862.5
|
|
],
|
|
"projected_center_px": [
|
|
844.0315551757812,
|
|
867.8394775390625
|
|
],
|
|
"reprojection_error_px": 5.476735175249794,
|
|
"confidence": 0.7019920279258633
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
665.0,
|
|
836.5
|
|
],
|
|
"projected_center_px": [
|
|
667.8316040039062,
|
|
836.1483154296875
|
|
],
|
|
"reprojection_error_px": 2.8533599969043153,
|
|
"confidence": 0.7073036915264065
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
610.5,
|
|
848.75
|
|
],
|
|
"projected_center_px": [
|
|
607.8670043945312,
|
|
853.2793579101562
|
|
],
|
|
"reprojection_error_px": 5.239059928719344,
|
|
"confidence": 0.7005026944924987
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
816.25,
|
|
827.0
|
|
],
|
|
"projected_center_px": [
|
|
812.6638793945312,
|
|
825.783447265625
|
|
],
|
|
"reprojection_error_px": 3.786853780182547,
|
|
"confidence": 0.6734908244347195
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1037.75,
|
|
713.75
|
|
],
|
|
"projected_center_px": [
|
|
1041.0579833984375,
|
|
715.5057983398438
|
|
],
|
|
"reprojection_error_px": 3.7450743616831135,
|
|
"confidence": 0.6474934453081295
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
821.5,
|
|
736.75
|
|
],
|
|
"projected_center_px": [
|
|
822.47900390625,
|
|
737.4442749023438
|
|
],
|
|
"reprojection_error_px": 1.2001942711399611,
|
|
"confidence": 0.6757834243292992
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
676.0,
|
|
745.75
|
|
],
|
|
"projected_center_px": [
|
|
673.4923095703125,
|
|
745.0506591796875
|
|
],
|
|
"reprojection_error_px": 2.603380278426807,
|
|
"confidence": 0.6761108765479277
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1346.5,
|
|
753.25
|
|
],
|
|
"projected_center_px": [
|
|
1346.7528076171875,
|
|
752.6212768554688
|
|
],
|
|
"reprojection_error_px": 0.6776462821983786,
|
|
"confidence": 0.63555573802114
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
508.0,
|
|
693.0
|
|
],
|
|
"projected_center_px": [
|
|
509.55078125,
|
|
692.16650390625
|
|
],
|
|
"reprojection_error_px": 1.7605789455880902,
|
|
"confidence": 0.6946666666666667
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
612.5,
|
|
626.0
|
|
],
|
|
"projected_center_px": [
|
|
617.0697021484375,
|
|
623.625
|
|
],
|
|
"reprojection_error_px": 5.150029390734999,
|
|
"confidence": 0.6412938250103973
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
690.0,
|
|
487.75
|
|
],
|
|
"projected_center_px": [
|
|
694.9803466796875,
|
|
487.3343505859375
|
|
],
|
|
"reprojection_error_px": 4.9976612015306525,
|
|
"confidence": 0.5954680843098741
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1356.75,
|
|
429.5
|
|
],
|
|
"projected_center_px": [
|
|
1357.461669921875,
|
|
429.296630859375
|
|
],
|
|
"reprojection_error_px": 0.7401574731502206,
|
|
"confidence": 0.6065602887376399
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
1401.75,
|
|
418.5
|
|
],
|
|
"projected_center_px": [
|
|
1403.108154296875,
|
|
417.9859924316406
|
|
],
|
|
"reprojection_error_px": 1.4521662695610111,
|
|
"confidence": 0.20623049817079758
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
632.75,
|
|
428.25
|
|
],
|
|
"projected_center_px": [
|
|
633.2257080078125,
|
|
431.82623291015625
|
|
],
|
|
"reprojection_error_px": 3.6077333516186556,
|
|
"confidence": 0.5951948697115713
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
538.5,
|
|
403.0
|
|
],
|
|
"projected_center_px": [
|
|
536.0106201171875,
|
|
405.8239440917969
|
|
],
|
|
"reprojection_error_px": 3.764528182195752,
|
|
"confidence": 0.5651459847123547
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
872.5,
|
|
307.25
|
|
],
|
|
"projected_center_px": [
|
|
871.8599243164062,
|
|
304.2137145996094
|
|
],
|
|
"reprojection_error_px": 3.1030188387042164,
|
|
"confidence": 0.5713044658760732
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
640.5,
|
|
337.75
|
|
],
|
|
"projected_center_px": [
|
|
642.009521484375,
|
|
334.7357482910156
|
|
],
|
|
"reprojection_error_px": 3.371107900513558,
|
|
"confidence": 0.5461129593472626
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
1190.75,
|
|
312.5
|
|
],
|
|
"projected_center_px": [
|
|
1185.3126220703125,
|
|
316.07952880859375
|
|
],
|
|
"reprojection_error_px": 6.509846790962543,
|
|
"confidence": 0.5743827506632194
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
1323.0,
|
|
208.5
|
|
],
|
|
"projected_center_px": [
|
|
1318.63037109375,
|
|
207.34579467773438
|
|
],
|
|
"reprojection_error_px": 4.519496288778415,
|
|
"confidence": 0.562745572281817
|
|
},
|
|
{
|
|
"marker_id": 81,
|
|
"observed_center_px": [
|
|
1152.5,
|
|
376.25
|
|
],
|
|
"projected_center_px": [
|
|
1154.8746337890625,
|
|
375.98004150390625
|
|
],
|
|
"reprojection_error_px": 2.3899295432649317,
|
|
"confidence": 0.4292626399916042
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
1108.5,
|
|
182.0
|
|
],
|
|
"projected_center_px": [
|
|
1110.6090087890625,
|
|
182.74453735351562
|
|
],
|
|
"reprojection_error_px": 2.236571917717587,
|
|
"confidence": 0.5155640078275618
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
1280.25,
|
|
135.0
|
|
],
|
|
"projected_center_px": [
|
|
1281.471435546875,
|
|
133.47842407226562
|
|
],
|
|
"reprojection_error_px": 1.9511786435461398,
|
|
"confidence": 0.5393477003090094
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |