568 lines
13 KiB
JSON
568 lines
13 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T18:52:08Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\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": 26,
|
|
"used_marker_ids": [
|
|
46,
|
|
56,
|
|
208,
|
|
62,
|
|
47,
|
|
54,
|
|
53,
|
|
97,
|
|
72,
|
|
55,
|
|
96,
|
|
84,
|
|
79,
|
|
66,
|
|
95,
|
|
103,
|
|
73,
|
|
210,
|
|
58,
|
|
69,
|
|
82,
|
|
101,
|
|
81,
|
|
64,
|
|
52,
|
|
83
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3,
|
|
4
|
|
],
|
|
"rms": [
|
|
0.007422227100458106,
|
|
0.00037929858889617843,
|
|
9.361118326782244e-05,
|
|
9.352719540039077e-05,
|
|
9.35271615518822e-05
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125,
|
|
6.25e-05
|
|
]
|
|
},
|
|
"residual_rms_px": 0.23513362436810548,
|
|
"residual_median_px": 0.19402287640768395,
|
|
"residual_max_px": 0.4735015529951511,
|
|
"sigma2_normalized": 9.888286027285453e-09
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.31643328070640564,
|
|
0.9486141204833984,
|
|
0.0010992434108629823
|
|
],
|
|
[
|
|
0.9183030724525452,
|
|
-0.3060312569141388,
|
|
-0.2511261999607086
|
|
],
|
|
[
|
|
-0.2378854602575302,
|
|
0.0804741233587265,
|
|
-0.9679537415504456
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.12611393630504608,
|
|
-0.20017801225185394,
|
|
1.4976917505264282
|
|
],
|
|
"rvec_rad": [
|
|
2.3747005945480755,
|
|
1.7114492363340732,
|
|
-0.21706778643009716
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.5001965165138245,
|
|
-0.30141961574554443,
|
|
1.3992877006530762
|
|
],
|
|
"position_mm": [
|
|
500.1965026855469,
|
|
-301.41961669921875,
|
|
1399.2877197265625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 175.2474365234375,
|
|
"pitch": 13.761771202087402,
|
|
"yaw": 70.98682403564453
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.1676729793342622e-07,
|
|
1.3619983551224775e-07,
|
|
3.9169423551656145e-08,
|
|
-1.4324234000348522e-09,
|
|
-1.4505045194645116e-09,
|
|
-2.732681298231853e-09
|
|
],
|
|
[
|
|
1.361998355122478e-07,
|
|
1.1589633769981796e-07,
|
|
6.195297126155646e-09,
|
|
3.169329179052311e-09,
|
|
-1.520996477131377e-09,
|
|
2.2851953461739577e-09
|
|
],
|
|
[
|
|
3.916942355164647e-08,
|
|
6.195297126147603e-09,
|
|
7.974546745471005e-07,
|
|
4.91898065578733e-09,
|
|
-1.2561908358291764e-08,
|
|
-1.471947197601002e-07
|
|
],
|
|
[
|
|
-1.4324234000349347e-09,
|
|
3.1693291790522375e-09,
|
|
4.918980655787529e-09,
|
|
1.7382559082309342e-09,
|
|
-1.0110923995201435e-10,
|
|
1.6178605841352917e-09
|
|
],
|
|
[
|
|
-1.4505045194643352e-09,
|
|
-1.5209964771313627e-09,
|
|
-1.2561908358291971e-08,
|
|
-1.0110923995202705e-10,
|
|
1.0680808211688275e-09,
|
|
3.078200251383334e-09
|
|
],
|
|
[
|
|
-2.7326812982300673e-09,
|
|
2.2851953461754544e-09,
|
|
-1.471947197600998e-07,
|
|
1.617860584135329e-09,
|
|
3.078200251383249e-09,
|
|
4.789494632062779e-08
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.02667592664052627,
|
|
0.019505518022961296,
|
|
0.05116531314718762
|
|
],
|
|
"tvec_std_m": [
|
|
4.169239628794361e-05,
|
|
3.268150579714508e-05,
|
|
0.00021884914055263682
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0008881233449060201,
|
|
0.0008215405963109499,
|
|
0.00042815204227667007
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.8881233449060201,
|
|
0.8215405963109499,
|
|
0.4281520422766701
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.03955268942652775,
|
|
"pitch": 0.03402465449050477,
|
|
"yaw": 0.007782285063540366
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
1234.0,
|
|
666.0
|
|
],
|
|
"projected_center_px": [
|
|
1234.322021484375,
|
|
665.8219604492188
|
|
],
|
|
"reprojection_error_px": 0.367961843186855,
|
|
"confidence": 0.2988751797371847
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
1196.0,
|
|
626.75
|
|
],
|
|
"projected_center_px": [
|
|
1196.0927734375,
|
|
626.841552734375
|
|
],
|
|
"reprojection_error_px": 0.13034114422202114,
|
|
"confidence": 0.5697620483284124
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
831.25,
|
|
547.75
|
|
],
|
|
"projected_center_px": [
|
|
831.42578125,
|
|
547.8938598632812
|
|
],
|
|
"reprojection_error_px": 0.22714468542068608,
|
|
"confidence": 0.5829305549976826
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
750.75,
|
|
651.75
|
|
],
|
|
"projected_center_px": [
|
|
750.7119140625,
|
|
651.61279296875
|
|
],
|
|
"reprojection_error_px": 0.14239490180372463,
|
|
"confidence": 0.5711737708098855
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
593.75,
|
|
623.75
|
|
],
|
|
"projected_center_px": [
|
|
593.893310546875,
|
|
623.6600341796875
|
|
],
|
|
"reprojection_error_px": 0.16920922454202256,
|
|
"confidence": 0.5768583617164568
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
540.5,
|
|
639.0
|
|
],
|
|
"projected_center_px": [
|
|
540.5552978515625,
|
|
638.8973999023438
|
|
],
|
|
"reprojection_error_px": 0.11655313134575288,
|
|
"confidence": 0.5766374039623903
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1240.5,
|
|
594.75
|
|
],
|
|
"projected_center_px": [
|
|
1240.2105712890625,
|
|
594.7680053710938
|
|
],
|
|
"reprojection_error_px": 0.28998822752513004,
|
|
"confidence": 0.21364841201201337
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
491.5,
|
|
605.25
|
|
],
|
|
"projected_center_px": [
|
|
491.5602722167969,
|
|
605.1970825195312
|
|
],
|
|
"reprojection_error_px": 0.080205983921214,
|
|
"confidence": 0.5705029634947052
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1197.75,
|
|
548.5
|
|
],
|
|
"projected_center_px": [
|
|
1197.50341796875,
|
|
548.541259765625
|
|
],
|
|
"reprojection_error_px": 0.2500101325842733,
|
|
"confidence": 0.5440516905787338
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
598.75,
|
|
542.75
|
|
],
|
|
"projected_center_px": [
|
|
598.85302734375,
|
|
542.7650756835938
|
|
],
|
|
"reprojection_error_px": 0.10412449181628464,
|
|
"confidence": 0.5461315019106076
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
723.0,
|
|
614.5
|
|
],
|
|
"projected_center_px": [
|
|
722.7930908203125,
|
|
614.3304443359375
|
|
],
|
|
"reprojection_error_px": 0.26750800334687097,
|
|
"confidence": 0.5763709732716893
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
1254.25,
|
|
485.0
|
|
],
|
|
"projected_center_px": [
|
|
1254.08984375,
|
|
484.9773864746094
|
|
],
|
|
"reprojection_error_px": 0.1617448482785617,
|
|
"confidence": 0.06519221426443914
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
731.5,
|
|
535.75
|
|
],
|
|
"projected_center_px": [
|
|
731.5128173828125,
|
|
535.8655395507812
|
|
],
|
|
"reprojection_error_px": 0.11624832513587117,
|
|
"confidence": 0.5460974493377216
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
453.0,
|
|
495.75
|
|
],
|
|
"projected_center_px": [
|
|
452.8591613769531,
|
|
495.8890686035156
|
|
],
|
|
"reprojection_error_px": 0.19792825524802127,
|
|
"confidence": 0.5349107016469481
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
548.75,
|
|
435.0
|
|
],
|
|
"projected_center_px": [
|
|
548.4973754882812,
|
|
434.8678894042969
|
|
],
|
|
"reprojection_error_px": 0.28508306406760014,
|
|
"confidence": 0.5227826547122322
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
618.0,
|
|
313.5
|
|
],
|
|
"projected_center_px": [
|
|
617.7993774414062,
|
|
313.51080322265625
|
|
],
|
|
"reprojection_error_px": 0.20091321667939907,
|
|
"confidence": 0.5046333482067283
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
1247.5,
|
|
251.25
|
|
],
|
|
"projected_center_px": [
|
|
1247.8372802734375,
|
|
251.246826171875
|
|
],
|
|
"reprojection_error_px": 0.33729520606590574,
|
|
"confidence": 0.13607001327160623
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
775.0,
|
|
150.5
|
|
],
|
|
"projected_center_px": [
|
|
775.2924194335938,
|
|
150.43130493164062
|
|
],
|
|
"reprojection_error_px": 0.30037998861473575,
|
|
"confidence": 0.46988879526830113
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
562.75,
|
|
264.25
|
|
],
|
|
"projected_center_px": [
|
|
562.7250366210938,
|
|
264.16064453125
|
|
],
|
|
"reprojection_error_px": 0.09277699112360367,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
476.25,
|
|
240.75
|
|
],
|
|
"projected_center_px": [
|
|
476.0916748046875,
|
|
241.12998962402344
|
|
],
|
|
"reprojection_error_px": 0.4116539588491949,
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1207.5,
|
|
261.5
|
|
],
|
|
"projected_center_px": [
|
|
1207.3568115234375,
|
|
261.322509765625
|
|
],
|
|
"reprojection_error_px": 0.2280476334426254,
|
|
"confidence": 0.49001748422717006
|
|
},
|
|
{
|
|
"marker_id": 101,
|
|
"observed_center_px": [
|
|
1162.25,
|
|
153.5
|
|
],
|
|
"projected_center_px": [
|
|
1162.3350830078125,
|
|
153.42735290527344
|
|
],
|
|
"reprojection_error_px": 0.11187814170172868,
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"marker_id": 81,
|
|
"observed_center_px": [
|
|
1027.0,
|
|
213.75
|
|
],
|
|
"projected_center_px": [
|
|
1027.4039306640625,
|
|
213.9970703125
|
|
],
|
|
"reprojection_error_px": 0.4735015529951511,
|
|
"confidence": 0.4548532843889077
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
570.5,
|
|
177.75
|
|
],
|
|
"projected_center_px": [
|
|
570.482177734375,
|
|
177.70457458496094
|
|
],
|
|
"reprojection_error_px": 0.04879653146975861,
|
|
"confidence": 0.43211414091114625
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
1054.5,
|
|
160.5
|
|
],
|
|
"projected_center_px": [
|
|
1054.453857421875,
|
|
160.68443298339844
|
|
],
|
|
"reprojection_error_px": 0.19011749756734664,
|
|
"confidence": 0.45818248585417487
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
1173.0,
|
|
64.0
|
|
],
|
|
"projected_center_px": [
|
|
1172.8411865234375,
|
|
63.976505279541016
|
|
],
|
|
"reprojection_error_px": 0.16054196406956517,
|
|
"confidence": 0.4377857805109236
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |