509 lines
12 KiB
JSON
509 lines
12 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T18:52:06Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_a_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "a",
|
|
"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": 22,
|
|
"used_marker_ids": [
|
|
47,
|
|
210,
|
|
85,
|
|
79,
|
|
96,
|
|
62,
|
|
105,
|
|
211,
|
|
208,
|
|
75,
|
|
102,
|
|
92,
|
|
217,
|
|
61,
|
|
83,
|
|
206,
|
|
207,
|
|
73,
|
|
84,
|
|
68,
|
|
86,
|
|
93
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.012553833727438159,
|
|
0.0008956966242792113,
|
|
8.92087181419201e-05,
|
|
8.913910695589422e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.22411257524885828,
|
|
"residual_median_px": 0.19879851753220182,
|
|
"residual_max_px": 0.3595096346306234,
|
|
"sigma2_normalized": 9.200377290845654e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8080273270606995,
|
|
-0.5891450047492981,
|
|
0.0002487859455868602
|
|
],
|
|
[
|
|
-0.3431875705718994,
|
|
-0.47103363275527954,
|
|
-0.8126189708709717
|
|
],
|
|
[
|
|
0.4788675904273987,
|
|
0.6565329432487488,
|
|
-0.582795262336731
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.22886477410793304,
|
|
0.17077884078025818,
|
|
1.1346683502197266
|
|
],
|
|
"rvec_rad": [
|
|
2.106390904595778,
|
|
-0.6862178660237623,
|
|
0.3526404948696007
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.2998177111148834,
|
|
-0.7993391156196594,
|
|
0.8001143932342529
|
|
],
|
|
"position_mm": [
|
|
-299.8177185058594,
|
|
-799.339111328125,
|
|
800.1143798828125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 131.5950164794922,
|
|
"pitch": -28.611467361450195,
|
|
"yaw": -23.012033462524414
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
4.0352341834101635e-08,
|
|
-1.2176139731112615e-08,
|
|
-9.185549458822521e-10,
|
|
1.9920715565502193e-09,
|
|
6.646867526080053e-09,
|
|
1.1357187033307382e-08
|
|
],
|
|
[
|
|
-1.21761397311127e-08,
|
|
1.9966363371942727e-08,
|
|
-8.750842672845864e-09,
|
|
-4.542331936533281e-09,
|
|
-5.1988254903407205e-09,
|
|
-1.5762890044808953e-09
|
|
],
|
|
[
|
|
-9.185549458822324e-10,
|
|
-8.750842672845925e-09,
|
|
5.3186396266350315e-08,
|
|
8.38053515486003e-09,
|
|
-5.132424793070352e-09,
|
|
-1.1777918990218518e-08
|
|
],
|
|
[
|
|
1.9920715565502375e-09,
|
|
-4.542331936533298e-09,
|
|
8.38053515486004e-09,
|
|
2.672806578193673e-09,
|
|
2.939244752461043e-10,
|
|
-1.1957553902298092e-10
|
|
],
|
|
[
|
|
6.6468675260800715e-09,
|
|
-5.19882549034072e-09,
|
|
-5.132424793070366e-09,
|
|
2.9392447524610235e-10,
|
|
3.4486601208874437e-09,
|
|
3.883370670525844e-09
|
|
],
|
|
[
|
|
1.1357187033307364e-08,
|
|
-1.5762890044809687e-09,
|
|
-1.1777918990218545e-08,
|
|
-1.1957553902296474e-10,
|
|
3.883370670525871e-09,
|
|
2.0643567828792927e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.011509514499353715,
|
|
0.00809603016694327,
|
|
0.013213653521922532
|
|
],
|
|
"tvec_std_m": [
|
|
5.169919320640964e-05,
|
|
5.872529370626803e-05,
|
|
0.00014367869650297127
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.00022717896925085273,
|
|
0.0002280382619963859,
|
|
0.0002652434228270568
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.22717896925085274,
|
|
0.22803826199638588,
|
|
0.2652434228270568
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.01463827065295263,
|
|
"pitch": 0.010888868700885165,
|
|
"yaw": 0.007981047253143097
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
984.25,
|
|
690.75
|
|
],
|
|
"projected_center_px": [
|
|
983.9329833984375,
|
|
690.8571166992188
|
|
],
|
|
"reprojection_error_px": 0.33462443562560856,
|
|
"confidence": 0.12146268776527554
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
324.0,
|
|
632.0
|
|
],
|
|
"projected_center_px": [
|
|
324.1624755859375,
|
|
632.0913696289062
|
|
],
|
|
"reprojection_error_px": 0.18640473468289315,
|
|
"confidence": 0.46829700346999537
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
1183.75,
|
|
610.25
|
|
],
|
|
"projected_center_px": [
|
|
1183.87158203125,
|
|
610.3134155273438
|
|
],
|
|
"reprojection_error_px": 0.13712665470710603,
|
|
"confidence": 0.4560525484643318
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
814.0,
|
|
599.0
|
|
],
|
|
"projected_center_px": [
|
|
814.2798461914062,
|
|
598.9842529296875
|
|
],
|
|
"reprojection_error_px": 0.2802888885917712,
|
|
"confidence": 0.5734281513866332
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
905.25,
|
|
587.25
|
|
],
|
|
"projected_center_px": [
|
|
905.1922607421875,
|
|
587.0226440429688
|
|
],
|
|
"reprojection_error_px": 0.23457312951472925,
|
|
"confidence": 0.525542829627259
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
931.0,
|
|
557.5
|
|
],
|
|
"projected_center_px": [
|
|
931.0811767578125,
|
|
557.4605712890625
|
|
],
|
|
"reprojection_error_px": 0.09024571599329362,
|
|
"confidence": 0.5038606541951498
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
1150.25,
|
|
560.25
|
|
],
|
|
"projected_center_px": [
|
|
1150.0687255859375,
|
|
560.3014526367188
|
|
],
|
|
"reprojection_error_px": 0.18843510028392896,
|
|
"confidence": 0.43622925667631085
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
610.25,
|
|
487.75
|
|
],
|
|
"projected_center_px": [
|
|
610.1248168945312,
|
|
487.4557800292969
|
|
],
|
|
"reprojection_error_px": 0.3197439617183535,
|
|
"confidence": 0.402108970929575
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
793.0,
|
|
492.5
|
|
],
|
|
"projected_center_px": [
|
|
792.98779296875,
|
|
492.7422790527344
|
|
],
|
|
"reprojection_error_px": 0.24258637844241077,
|
|
"confidence": 0.4435967685123575
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
128.5,
|
|
514.75
|
|
],
|
|
"projected_center_px": [
|
|
128.4774627685547,
|
|
514.646728515625
|
|
],
|
|
"reprojection_error_px": 0.10570206377472226,
|
|
"confidence": 0.29844141482805986
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
1217.75,
|
|
461.5
|
|
],
|
|
"projected_center_px": [
|
|
1217.786865234375,
|
|
461.4237976074219
|
|
],
|
|
"reprojection_error_px": 0.08465134458562582,
|
|
"confidence": 0.2521714913889437
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
1173.25,
|
|
437.75
|
|
],
|
|
"projected_center_px": [
|
|
1173.1141357421875,
|
|
437.9090270996094
|
|
],
|
|
"reprojection_error_px": 0.20916193478047468,
|
|
"confidence": 0.31777455864589965
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
1087.75,
|
|
347.0
|
|
],
|
|
"projected_center_px": [
|
|
1087.917236328125,
|
|
346.9950866699219
|
|
],
|
|
"reprojection_error_px": 0.1673084882998746,
|
|
"confidence": 0.3029173397022545
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
58.5,
|
|
415.5
|
|
],
|
|
"projected_center_px": [
|
|
58.64896774291992,
|
|
415.5035095214844
|
|
],
|
|
"reprojection_error_px": 0.1490090774808878,
|
|
"confidence": 0.1527342148240039
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
139.0,
|
|
383.0
|
|
],
|
|
"projected_center_px": [
|
|
138.91104125976562,
|
|
382.9791259765625
|
|
],
|
|
"reprojection_error_px": 0.09137495454749243,
|
|
"confidence": 0.19743498130596515
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"observed_center_px": [
|
|
1013.0,
|
|
301.0
|
|
],
|
|
"projected_center_px": [
|
|
1013.3508911132812,
|
|
300.9217529296875
|
|
],
|
|
"reprojection_error_px": 0.3595096346306234,
|
|
"confidence": 0.2849187633475991
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"observed_center_px": [
|
|
1098.0,
|
|
262.0
|
|
],
|
|
"projected_center_px": [
|
|
1097.9266357421875,
|
|
261.7966613769531
|
|
],
|
|
"reprojection_error_px": 0.2161687071409229,
|
|
"confidence": 0.24627951083020566
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
343.75,
|
|
311.5
|
|
],
|
|
"projected_center_px": [
|
|
343.6452941894531,
|
|
311.7585754394531
|
|
],
|
|
"reprojection_error_px": 0.27897054441402014,
|
|
"confidence": 0.17208874842045807
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
579.25,
|
|
279.75
|
|
],
|
|
"projected_center_px": [
|
|
579.165283203125,
|
|
279.5132751464844
|
|
],
|
|
"reprojection_error_px": 0.25142711060017797,
|
|
"confidence": 0.1988568274481309
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
795.0,
|
|
262.5
|
|
],
|
|
"projected_center_px": [
|
|
795.1717529296875,
|
|
262.5036926269531
|
|
],
|
|
"reprojection_error_px": 0.1717926201850774,
|
|
"confidence": 0.22045556467782906
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
514.0,
|
|
278.75
|
|
],
|
|
"projected_center_px": [
|
|
513.7286987304688,
|
|
278.9452819824219
|
|
],
|
|
"reprojection_error_px": 0.3342744852780204,
|
|
"confidence": 0.17646704338372862
|
|
},
|
|
{
|
|
"marker_id": 93,
|
|
"observed_center_px": [
|
|
1104.25,
|
|
154.5
|
|
],
|
|
"projected_center_px": [
|
|
1104.1920166015625,
|
|
154.6373748779297
|
|
],
|
|
"reprojection_error_px": 0.14911046770954217,
|
|
"confidence": 0.15396639291733288
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |