Files
appRobotRender/data/evaluations/Scene6/render_e_camera_pose.json
2026-05-31 17:39:25 +02:00

495 lines
11 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:17Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\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": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1500.0,
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": 21,
"used_marker_ids": [
92,
217,
105,
85,
206,
97,
47,
96,
62,
79,
66,
55,
53,
51,
95,
103,
72,
84,
64,
86,
210
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.007519319571338876,
0.0011709521763009134,
0.0011023724411968134,
0.0011023716416788713
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 2.366770994482858,
"residual_median_px": 1.205248686159704,
"residual_max_px": 5.359430209951488,
"sigma2_normalized": 1.417760442437034e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.630020260810852,
0.776574969291687,
-0.002406748477369547
],
[
0.2426123172044754,
-0.1997688263654709,
-0.9493322372436523
],
[
-0.7377084493637085,
0.5975146293640137,
-0.31426504254341125
]
],
"translation_m": [
-0.0552651584148407,
-0.00989167857915163,
1.5432920455932617
],
"rvec_rad": [
1.7491307465108603,
0.8314584178546814,
-0.6037899189351765
]
},
"camera_in_world": {
"position_m": [
1.1757175922393799,
-0.8811981081962585,
0.47547921538352966
],
"position_mm": [
1175.7176513671875,
-881.1981201171875,
475.4792175292969
],
"orientation_deg": {
"roll": 117.74229431152344,
"pitch": 47.53657150268555,
"yaw": 21.06102180480957
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.6141316317787745e-06,
6.140725217876692e-07,
7.186959305106169e-07,
-1.803291191031987e-07,
-1.2412733788804135e-06,
6.019495816183369e-07
],
[
6.140725217876684e-07,
2.906910251091419e-06,
-7.555899743483854e-08,
7.524955718075708e-07,
-7.269243759018584e-07,
4.403345932545452e-07
],
[
7.186959305106158e-07,
-7.555899743483065e-08,
5.964405216789035e-06,
-9.659678523205251e-07,
-8.115645213656036e-07,
-2.978669970606388e-07
],
[
-1.8032911910320637e-07,
7.524955718075834e-07,
-9.659678523205257e-07,
4.653501117451101e-07,
1.891564906645478e-08,
3.385763184186115e-07
],
[
-1.2412733788804131e-06,
-7.269243759018603e-07,
-8.115645213656022e-07,
1.891564906645552e-08,
6.600069865252418e-07,
1.8603968266675781e-07
],
[
6.019495816183352e-07,
4.4033459325454474e-07,
-2.97866997060642e-07,
3.3857631841861156e-07,
1.8603968266675858e-07,
3.2345754335899166e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.12307437028314795,
0.09768737600732831,
0.13992850788784328
],
"tvec_std_m": [
0.0006821657509323596,
0.0008124081403612606,
0.0017984925447690676
]
},
"camera_center_std_m": [
0.0018820666442413403,
0.002072178018007238,
0.0029233002731715043
],
"camera_center_std_mm": [
1.8820666442413403,
2.072178018007238,
2.9233002731715043
],
"orientation_std_deg": {
"roll": 0.17079958317024002,
"pitch": 0.1119036682095792,
"yaw": 0.14901767785250553
}
}
},
"observations": {
"markers": [
{
"marker_id": 92,
"observed_center_px": [
1023.0,
688.5
],
"projected_center_px": [
1022.3832397460938,
685.3994750976562
],
"reprojection_error_px": 3.1612731423988376,
"confidence": 0.15369374989294518
},
{
"marker_id": 217,
"observed_center_px": [
1141.25,
600.5
],
"projected_center_px": [
1140.5599365234375,
605.8148193359375
],
"reprojection_error_px": 5.359430209951488,
"confidence": 0.3233651345714012
},
{
"marker_id": 105,
"observed_center_px": [
760.5,
654.75
],
"projected_center_px": [
761.4479370117188,
653.17626953125
],
"reprojection_error_px": 1.8371750505758477,
"confidence": 0.420622587927407
},
{
"marker_id": 85,
"observed_center_px": [
674.75,
665.5
],
"projected_center_px": [
675.4965209960938,
663.5762939453125
],
"reprojection_error_px": 2.0634773035946266,
"confidence": 0.2981424558820519
},
{
"marker_id": 206,
"observed_center_px": [
1222.5,
566.75
],
"projected_center_px": [
1222.358154296875,
572.0414428710938
],
"reprojection_error_px": 5.293343731663748,
"confidence": 0.15136171428561934
},
{
"marker_id": 97,
"observed_center_px": [
411.25,
578.0
],
"projected_center_px": [
411.8515625,
578.0541381835938
],
"reprojection_error_px": 0.6039936956037543,
"confidence": 0.2263843126910661
},
{
"marker_id": 47,
"observed_center_px": [
544.0,
569.25
],
"projected_center_px": [
543.9927368164062,
568.7229614257812
],
"reprojection_error_px": 0.5270886192571884,
"confidence": 0.24210516100479615
},
{
"marker_id": 96,
"observed_center_px": [
690.0,
544.25
],
"projected_center_px": [
690.151123046875,
543.6890869140625
],
"reprojection_error_px": 0.5809145077140979,
"confidence": 0.28140192555287236
},
{
"marker_id": 62,
"observed_center_px": [
738.5,
556.0
],
"projected_center_px": [
738.726806640625,
554.8162841796875
],
"reprojection_error_px": 1.205248686159704,
"confidence": 0.2664122029520185
},
{
"marker_id": 79,
"observed_center_px": [
667.0,
511.75
],
"projected_center_px": [
666.0850830078125,
511.1456298828125
],
"reprojection_error_px": 1.0965109854181372,
"confidence": 0.2093822185726055
},
{
"marker_id": 66,
"observed_center_px": [
331.25,
537.25
],
"projected_center_px": [
330.9825439453125,
537.2835083007812
],
"reprojection_error_px": 0.2695469298846672,
"confidence": 0.16725963004706537
},
{
"marker_id": 55,
"observed_center_px": [
519.5,
534.0
],
"projected_center_px": [
519.5048828125,
533.7169189453125
],
"reprojection_error_px": 0.2831231629183623,
"confidence": 0.22298824455832925
},
{
"marker_id": 53,
"observed_center_px": [
1199.5,
466.0
],
"projected_center_px": [
1200.2362060546875,
464.0885925292969
],
"reprojection_error_px": 2.0482865702870416,
"confidence": 0.13639287915585202
},
{
"marker_id": 51,
"observed_center_px": [
528.75,
463.0
],
"projected_center_px": [
528.5050659179688,
463.124755859375
],
"reprojection_error_px": 0.27487584286161976,
"confidence": 0.14355708014592924
},
{
"marker_id": 95,
"observed_center_px": [
425.25,
498.75
],
"projected_center_px": [
425.6400451660156,
498.99713134765625
],
"reprojection_error_px": 0.4617457466252946,
"confidence": 0.14922985097126407
},
{
"marker_id": 103,
"observed_center_px": [
465.5,
447.25
],
"projected_center_px": [
464.5747375488281,
447.2092590332031
],
"reprojection_error_px": 0.9261589657958996,
"confidence": 0.11373255626245794
},
{
"marker_id": 72,
"observed_center_px": [
1133.75,
455.5
],
"projected_center_px": [
1134.590576171875,
454.06219482421875
],
"reprojection_error_px": 1.665488524195643,
"confidence": 0.1532878382904936
},
{
"marker_id": 84,
"observed_center_px": [
1148.0,
429.0
],
"projected_center_px": [
1148.681884765625,
427.5081787109375
],
"reprojection_error_px": 1.6402736332976764,
"confidence": 0.13359880447387698
},
{
"marker_id": 64,
"observed_center_px": [
378.5,
409.25
],
"projected_center_px": [
377.59625244140625,
409.9630126953125
],
"reprojection_error_px": 1.151150187135006,
"confidence": 0.09620577544552089
},
{
"marker_id": 86,
"observed_center_px": [
1127.25,
408.75
],
"projected_center_px": [
1127.754150390625,
407.0287780761719
],
"reprojection_error_px": 1.7935363189614901,
"confidence": 0.11774828338549573
},
{
"marker_id": 210,
"observed_center_px": [
573.25,
354.0
],
"projected_center_px": [
571.7759399414062,
358.68560791015625
],
"reprojection_error_px": 4.912003109125668,
"confidence": 0.09088599426545704
}
]
},
"qa": {
"sanity_notes": []
}
}