582 lines
13 KiB
JSON
582 lines
13 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T19:02:41Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\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": [
|
|
[
|
|
1777.77783203125,
|
|
0.0,
|
|
640.0
|
|
],
|
|
[
|
|
0.0,
|
|
1777.77783203125,
|
|
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": 27,
|
|
"used_marker_ids": [
|
|
46,
|
|
56,
|
|
47,
|
|
62,
|
|
54,
|
|
53,
|
|
97,
|
|
72,
|
|
215,
|
|
55,
|
|
84,
|
|
66,
|
|
95,
|
|
51,
|
|
103,
|
|
73,
|
|
210,
|
|
58,
|
|
69,
|
|
82,
|
|
101,
|
|
74,
|
|
64,
|
|
52,
|
|
77,
|
|
83,
|
|
75
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4
|
|
],
|
|
"rms": [
|
|
0.007361242886604368,
|
|
0.0003653993942358196,
|
|
9.164489402431082e-05,
|
|
9.16054830078819e-05,
|
|
9.160546620843857e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 0.2303117349044767,
|
|
"residual_median_px": 0.17648425193417577,
|
|
"residual_max_px": 0.3976393379524452,
|
|
"sigma2_normalized": 9.440506618742194e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.3165043294429779,
|
|
0.9485899209976196,
|
|
0.0014882172690704465
|
|
],
|
|
[
|
|
0.9183610677719116,
|
|
-0.30602461099624634,
|
|
-0.25092199444770813
|
|
],
|
|
[
|
|
-0.23756663501262665,
|
|
0.0807846263051033,
|
|
-0.9680061936378479
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.1261143833398819,
|
|
-0.20017947256565094,
|
|
1.4975119829177856
|
|
],
|
|
"rvec_rad": [
|
|
2.374711802356422,
|
|
1.7114110939780351,
|
|
-0.21641019802521885
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.49968016147613525,
|
|
-0.3018666207790375,
|
|
1.399183750152588
|
|
],
|
|
"position_mm": [
|
|
499.68017578125,
|
|
-301.8666076660156,
|
|
1399.1837158203125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 175.2294464111328,
|
|
"pitch": 13.742963790893555,
|
|
"yaw": 70.98397064208984
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
1.7821255499500834e-07,
|
|
1.1378656398482221e-07,
|
|
-1.4737142148217561e-08,
|
|
-1.8533236538334094e-09,
|
|
6.738689930879477e-10,
|
|
1.0833345422934384e-08
|
|
],
|
|
[
|
|
1.1378656398482218e-07,
|
|
1.0106730226754071e-07,
|
|
-4.0916354766287084e-08,
|
|
1.7737988062902355e-09,
|
|
-1.0777386533119191e-10,
|
|
1.3347903204217209e-08
|
|
],
|
|
[
|
|
-1.4737142148209665e-08,
|
|
-4.091635476627995e-08,
|
|
7.991758315646605e-07,
|
|
6.197428924044788e-09,
|
|
-8.224093362206842e-09,
|
|
-1.4232193526454197e-07
|
|
],
|
|
[
|
|
-1.8533236538332181e-09,
|
|
1.7737988062903513e-09,
|
|
6.197428924044598e-09,
|
|
1.4884957612538316e-09,
|
|
-1.3736224299157495e-10,
|
|
1.2595150626417418e-09
|
|
],
|
|
[
|
|
6.738689930879671e-10,
|
|
-1.0777386533138668e-10,
|
|
-8.224093362206965e-09,
|
|
-1.373622429915981e-10,
|
|
8.709491101888092e-10,
|
|
1.7230680269593937e-09
|
|
],
|
|
[
|
|
1.0833345422933693e-08,
|
|
1.3347903204216446e-08,
|
|
-1.423219352645422e-07,
|
|
1.2595150626416901e-09,
|
|
1.7230680269593344e-09,
|
|
4.445551447804239e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.02418754446382333,
|
|
0.018214949400490767,
|
|
0.051220498773795475
|
|
],
|
|
"tvec_std_m": [
|
|
3.8581028514722513e-05,
|
|
2.9511846946418132e-05,
|
|
0.00021084476393318946
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0007626874807798689,
|
|
0.0008489790763477742,
|
|
0.00035025922532159716
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.7626874807798689,
|
|
0.8489790763477741,
|
|
0.35025922532159715
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.036331760709423115,
|
|
"pitch": 0.02896018768320413,
|
|
"yaw": 0.011944807429600208
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
1234.0,
|
|
666.0
|
|
],
|
|
"projected_center_px": [
|
|
1234.3304443359375,
|
|
665.8429565429688
|
|
],
|
|
"reprojection_error_px": 0.36586350808669266,
|
|
"confidence": 0.2988751797371847
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
1196.0,
|
|
626.75
|
|
],
|
|
"projected_center_px": [
|
|
1196.1064453125,
|
|
626.8641967773438
|
|
],
|
|
"reprojection_error_px": 0.15611376783910083,
|
|
"confidence": 0.5697620483284124
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
593.75,
|
|
623.75
|
|
],
|
|
"projected_center_px": [
|
|
593.9148559570312,
|
|
623.703125
|
|
],
|
|
"reprojection_error_px": 0.17139064208319352,
|
|
"confidence": 0.5768583617164568
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
751.0,
|
|
651.75
|
|
],
|
|
"projected_center_px": [
|
|
750.7487182617188,
|
|
651.6533813476562
|
|
],
|
|
"reprojection_error_px": 0.2692167824901877,
|
|
"confidence": 0.5593704450665263
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
540.5,
|
|
639.0
|
|
],
|
|
"projected_center_px": [
|
|
540.5711059570312,
|
|
638.9446411132812
|
|
],
|
|
"reprojection_error_px": 0.0901147239027528,
|
|
"confidence": 0.5766374039623903
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1240.5,
|
|
594.75
|
|
],
|
|
"projected_center_px": [
|
|
1240.216552734375,
|
|
594.7891845703125
|
|
],
|
|
"reprojection_error_px": 0.28614294144861335,
|
|
"confidence": 0.21364841201201337
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
491.5,
|
|
605.25
|
|
],
|
|
"projected_center_px": [
|
|
491.56536865234375,
|
|
605.2406616210938
|
|
],
|
|
"reprojection_error_px": 0.0660323104989879,
|
|
"confidence": 0.5705029634947052
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1197.75,
|
|
548.5
|
|
],
|
|
"projected_center_px": [
|
|
1197.5150146484375,
|
|
548.5629272460938
|
|
],
|
|
"reprojection_error_px": 0.24326519222834797,
|
|
"confidence": 0.5440516905787338
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
789.0,
|
|
430.75
|
|
],
|
|
"projected_center_px": [
|
|
788.9615478515625,
|
|
430.6828308105469
|
|
],
|
|
"reprojection_error_px": 0.07739681990398141,
|
|
"confidence": 0.551983363957988
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
598.5,
|
|
542.75
|
|
],
|
|
"projected_center_px": [
|
|
598.868408203125,
|
|
542.796142578125
|
|
],
|
|
"reprojection_error_px": 0.37128660310575845,
|
|
"confidence": 0.5459402660246769
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1254.25,
|
|
485.0
|
|
],
|
|
"projected_center_px": [
|
|
1254.0916748046875,
|
|
484.9971618652344
|
|
],
|
|
"reprojection_error_px": 0.1583506314470805,
|
|
"confidence": 0.06519221426443914
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
453.0,
|
|
495.75
|
|
],
|
|
"projected_center_px": [
|
|
452.8467712402344,
|
|
495.9134826660156
|
|
],
|
|
"reprojection_error_px": 0.22406613958134775,
|
|
"confidence": 0.5349107016469481
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
548.75,
|
|
435.0
|
|
],
|
|
"projected_center_px": [
|
|
548.4963989257812,
|
|
434.8807373046875
|
|
],
|
|
"reprojection_error_px": 0.2802447061732053,
|
|
"confidence": 0.5227826547122322
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
659.25,
|
|
376.25
|
|
],
|
|
"projected_center_px": [
|
|
659.2869873046875,
|
|
376.24285888671875
|
|
],
|
|
"reprojection_error_px": 0.03767036244770688,
|
|
"confidence": 0.5111500432161571
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
618.0,
|
|
313.5
|
|
],
|
|
"projected_center_px": [
|
|
617.798583984375,
|
|
313.5018615722656
|
|
],
|
|
"reprojection_error_px": 0.20142461816161,
|
|
"confidence": 0.5046333482067283
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
1247.5,
|
|
251.25
|
|
],
|
|
"projected_center_px": [
|
|
1247.8360595703125,
|
|
251.25607299804688
|
|
],
|
|
"reprojection_error_px": 0.33611443899942695,
|
|
"confidence": 0.13607001327160623
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
775.0,
|
|
150.5
|
|
],
|
|
"projected_center_px": [
|
|
775.3116455078125,
|
|
150.40562438964844
|
|
],
|
|
"reprojection_error_px": 0.32562198692493255,
|
|
"confidence": 0.46988879526830113
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
562.75,
|
|
264.25
|
|
],
|
|
"projected_center_px": [
|
|
562.7115478515625,
|
|
264.1392517089844
|
|
],
|
|
"reprojection_error_px": 0.11723374805209077,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
476.25,
|
|
240.75
|
|
],
|
|
"projected_center_px": [
|
|
476.0595703125,
|
|
241.0990753173828
|
|
],
|
|
"reprojection_error_px": 0.3976393379524452,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1207.5,
|
|
261.5
|
|
],
|
|
"projected_center_px": [
|
|
1207.36083984375,
|
|
261.3305358886719
|
|
],
|
|
"reprojection_error_px": 0.21927980781584874,
|
|
"confidence": 0.49001748422717006
|
|
},
|
|
{
|
|
"marker_id": 101,
|
|
"observed_center_px": [
|
|
1162.25,
|
|
153.5
|
|
],
|
|
"projected_center_px": [
|
|
1162.341064453125,
|
|
153.42291259765625
|
|
],
|
|
"reprojection_error_px": 0.11931136669681776,
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"marker_id": 74,
|
|
"observed_center_px": [
|
|
984.0,
|
|
182.25
|
|
],
|
|
"projected_center_px": [
|
|
983.996337890625,
|
|
182.11337280273438
|
|
],
|
|
"reprojection_error_px": 0.13667626742684508,
|
|
"confidence": 0.4548532843889077
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
570.5,
|
|
177.75
|
|
],
|
|
"projected_center_px": [
|
|
570.462646484375,
|
|
177.6640625
|
|
],
|
|
"reprojection_error_px": 0.09370453049771457,
|
|
"confidence": 0.43211414091114625
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
1054.5,
|
|
160.5
|
|
],
|
|
"projected_center_px": [
|
|
1054.4666748046875,
|
|
160.67330932617188
|
|
],
|
|
"reprojection_error_px": 0.17648425193417577,
|
|
"confidence": 0.45818248585417487
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"observed_center_px": [
|
|
1003.0,
|
|
87.25
|
|
],
|
|
"projected_center_px": [
|
|
1003.1221923828125,
|
|
87.5596923828125
|
|
],
|
|
"reprojection_error_px": 0.3329269445230899,
|
|
"confidence": 0.422956152719696
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
1173.0,
|
|
64.0
|
|
],
|
|
"projected_center_px": [
|
|
1172.843994140625,
|
|
63.96263122558594
|
|
],
|
|
"reprojection_error_px": 0.16041899345321103,
|
|
"confidence": 0.4377857805109236
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
987.75,
|
|
42.0
|
|
],
|
|
"projected_center_px": [
|
|
987.923095703125,
|
|
42.024051666259766
|
|
],
|
|
"reprojection_error_px": 0.17475870533455345,
|
|
"confidence": 0.22473325223116958
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |