Files
appRobotRender/data/evaluations/Scene9b/render_f_camera_pose.json
2026-05-31 17:39:25 +02:00

627 lines
14 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:45Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 30,
"used_marker_ids": [
68,
46,
208,
62,
56,
54,
47,
97,
96,
53,
72,
55,
79,
84,
66,
95,
103,
82,
73,
58,
210,
69,
211,
52,
64,
101,
81,
83,
75,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5
],
"rms": [
0.09977649187186353,
0.03441444627218159,
0.0257326434322241,
0.02571489269823018,
0.02571488791422037,
0.02571488791042679
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 78.63795438772483,
"residual_median_px": 64.9780643231663,
"residual_max_px": 149.67240761027298,
"sigma2_normalized": 0.0007347282891617996
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3610435128211975,
0.9257042407989502,
-0.11277977377176285
],
[
0.9317035675048828,
-0.3632170557975769,
0.0013652361230924726
],
[
-0.0396997332572937,
-0.1055702194571495,
-0.9936190843582153
]
],
"translation_m": [
0.5550765991210938,
0.05044182389974594,
0.4798397123813629
],
"rvec_rad": [
2.6444819980981755,
1.8072475670496018,
-0.14836172087686003
]
},
"camera_in_world": {
"position_m": [
-0.22835412621498108,
-0.4448586106300354,
0.5393104553222656
],
"position_mm": [
-228.3541259765625,
-444.8586120605469,
539.3104248046875
],
"orientation_deg": {
"roll": -173.93516540527344,
"pitch": 2.2752249240875244,
"yaw": 68.81819915771484
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00041783247355007923,
-0.00017322947127762714,
-8.506898938020509e-05,
-8.694059470140323e-06,
7.240361176535996e-05,
3.590274098670164e-05
],
[
-0.00017322947127762704,
0.0001358148282977021,
2.607769330448874e-05,
1.8224450668647024e-05,
-2.6338837843777624e-05,
-1.0293801691379705e-05
],
[
-8.50689893802057e-05,
2.6077693304488812e-05,
0.0002996113507748175,
-6.098489654192003e-05,
-3.989919009272394e-05,
-0.00010125017741835667
],
[
-8.694059470140128e-06,
1.8224450668646932e-05,
-6.098489654191995e-05,
4.898461187269735e-05,
1.5133608158676236e-05,
3.949526344536263e-05
],
[
7.240361176535985e-05,
-2.6338837843777573e-05,
-3.9899190092723875e-05,
1.5133608158676236e-05,
2.501534653230182e-05,
2.2220612023276528e-05
],
[
3.5902740986701884e-05,
-1.0293801691379785e-05,
-0.00010125017741835668,
3.949526344536266e-05,
2.222061202327656e-05,
4.812340411977601e-05
]
],
"parameter_std": {
"rvec_std_deg": [
1.1711802155993392,
0.6677228322900537,
0.9917489827870594
],
"tvec_std_m": [
0.0069989007617409,
0.005001534417786387,
0.006937103438739833
]
},
"camera_center_std_m": [
0.011805861820575407,
0.011100982568584163,
0.012927212408684233
],
"camera_center_std_mm": [
11.805861820575407,
11.100982568584163,
12.927212408684232
],
"orientation_std_deg": {
"roll": 0.8201387457397827,
"pitch": 0.550954471516769,
"yaw": 0.6866860356398392
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
4728.0,
2998.5
],
"projected_center_px": [
4681.00634765625,
3064.134033203125
],
"reprojection_error_px": 80.72316690463869,
"confidence": 0.653373346866503
},
{
"marker_id": 46,
"observed_center_px": [
4722.75,
2803.5
],
"projected_center_px": [
4683.22998046875,
2872.177734375
],
"reprojection_error_px": 79.23675373608789,
"confidence": 0.662621522481087
},
{
"marker_id": 208,
"observed_center_px": [
3181.75,
2352.25
],
"projected_center_px": [
3237.5087890625,
2477.8447265625
],
"reprojection_error_px": 137.41571197656225,
"confidence": 0.5606844675306786
},
{
"marker_id": 62,
"observed_center_px": [
2872.75,
2749.25
],
"projected_center_px": [
2848.761962890625,
2709.078857421875
],
"reprojection_error_px": 46.78831713572096,
"confidence": 0.8299548146817791
},
{
"marker_id": 56,
"observed_center_px": [
4576.75,
2654.25
],
"projected_center_px": [
4530.8759765625,
2715.22314453125
],
"reprojection_error_px": 76.30301684974849,
"confidence": 0.5155537754233994
},
{
"marker_id": 54,
"observed_center_px": [
2069.0,
2700.5
],
"projected_center_px": [
2142.3623046875,
2624.306396484375
],
"reprojection_error_px": 105.7709457542942,
"confidence": 0.9971270798697285
},
{
"marker_id": 47,
"observed_center_px": [
2272.5,
2642.25
],
"projected_center_px": [
2313.68310546875,
2582.2177734375
],
"reprojection_error_px": 72.80052473781708,
"confidence": 0.9865054053096205
},
{
"marker_id": 97,
"observed_center_px": [
1881.75,
2571.25
],
"projected_center_px": [
1977.7232666015625,
2501.825927734375
],
"reprojection_error_px": 118.45070583207732,
"confidence": 0.9786405721047328
},
{
"marker_id": 96,
"observed_center_px": [
2765.75,
2606.0
],
"projected_center_px": [
2747.542236328125,
2573.265625
],
"reprojection_error_px": 37.45746874218113,
"confidence": 0.9783821125205053
},
{
"marker_id": 53,
"observed_center_px": [
4745.5,
2531.75
],
"projected_center_px": [
4718.59765625,
2601.882080078125
],
"reprojection_error_px": 75.11487705726277,
"confidence": 0.6451704770470214
},
{
"marker_id": 72,
"observed_center_px": [
4581.75,
2354.75
],
"projected_center_px": [
4546.70458984375,
2414.566162109375
],
"reprojection_error_px": 69.32643090852737,
"confidence": 0.4950851194720448
},
{
"marker_id": 55,
"observed_center_px": [
2292.0,
2333.0
],
"projected_center_px": [
2315.343505859375,
2302.958984375
],
"reprojection_error_px": 38.04447247088819,
"confidence": 0.9808939319791888
},
{
"marker_id": 79,
"observed_center_px": [
2799.0,
2306.25
],
"projected_center_px": [
2767.9345703125,
2296.331787109375
],
"reprojection_error_px": 32.61030310519616,
"confidence": 0.9779942196252901
},
{
"marker_id": 84,
"observed_center_px": [
4798.5,
2111.25
],
"projected_center_px": [
4795.4423828125,
2172.024169921875
],
"reprojection_error_px": 60.85103739919502,
"confidence": 0.259708253209444
},
{
"marker_id": 66,
"observed_center_px": [
1733.5,
2152.75
],
"projected_center_px": [
1828.5633544921875,
2122.84130859375
],
"reprojection_error_px": 99.65726862071627,
"confidence": 0.9617963673507701
},
{
"marker_id": 95,
"observed_center_px": [
2099.25,
1920.0
],
"projected_center_px": [
2126.27001953125,
1916.29931640625
],
"reprojection_error_px": 27.272266398856218,
"confidence": 0.9803578044552508
},
{
"marker_id": 103,
"observed_center_px": [
2364.5,
1455.5
],
"projected_center_px": [
2337.180419921875,
1474.617431640625
],
"reprojection_error_px": 33.344199618210276,
"confidence": 0.9596447006808903
},
{
"marker_id": 82,
"observed_center_px": [
4620.5,
1255.75
],
"projected_center_px": [
4628.61865234375,
1246.65478515625
],
"reprojection_error_px": 12.191613877278419,
"confidence": 0.3672861068098287
},
{
"marker_id": 73,
"observed_center_px": [
4775.0,
1217.25
],
"projected_center_px": [
4808.8916015625,
1200.9119873046875
],
"reprojection_error_px": 37.62407892963554,
"confidence": 0.4790211092271159
},
{
"marker_id": 58,
"observed_center_px": [
2154.0,
1267.0
],
"projected_center_px": [
2137.92724609375,
1291.25244140625
],
"reprojection_error_px": 29.094919355352477,
"confidence": 0.9394018334399358
},
{
"marker_id": 210,
"observed_center_px": [
2967.0,
831.75
],
"projected_center_px": [
2981.57568359375,
897.20751953125
],
"reprojection_error_px": 67.06069948493743,
"confidence": 0.9598718799626959
},
{
"marker_id": 69,
"observed_center_px": [
1822.25,
1179.0
],
"projected_center_px": [
1840.85498046875,
1209.6717529296875
],
"reprojection_error_px": 35.87341252267984,
"confidence": 0.9446238077555627
},
{
"marker_id": 211,
"observed_center_px": [
3369.75,
1790.5
],
"projected_center_px": [
3422.71484375,
1911.974853515625
],
"reprojection_error_px": 132.51948803894643,
"confidence": 0.8709616724871165
},
{
"marker_id": 52,
"observed_center_px": [
4034.75,
870.75
],
"projected_center_px": [
3984.886474609375,
833.7913818359375
],
"reprojection_error_px": 62.06698495157047,
"confidence": 0.2578089433966355
},
{
"marker_id": 64,
"observed_center_px": [
2183.75,
936.5
],
"projected_center_px": [
2145.97705078125,
961.9402465820312
],
"reprojection_error_px": 45.54121033565993,
"confidence": 0.9294275739211677
},
{
"marker_id": 101,
"observed_center_px": [
4447.75,
842.75
],
"projected_center_px": [
4446.37890625,
786.561767578125
],
"reprojection_error_px": 56.204958506931874,
"confidence": 0.39552348167020185
},
{
"marker_id": 81,
"observed_center_px": [
3932.25,
1075.5
],
"projected_center_px": [
3870.96044921875,
1061.378173828125
],
"reprojection_error_px": 62.89542916139516,
"confidence": 0.09076328043723833
},
{
"marker_id": 83,
"observed_center_px": [
4488.25,
500.75
],
"projected_center_px": [
4504.04296875,
388.2335510253906
],
"reprojection_error_px": 113.61940482063066,
"confidence": 0.4341536704843659
},
{
"marker_id": 75,
"observed_center_px": [
3780.5,
416.75
],
"projected_center_px": [
3711.114013671875,
335.9072570800781
],
"reprojection_error_px": 106.5362106588334,
"confidence": 0.4490024138583291
},
{
"marker_id": 61,
"observed_center_px": [
4362.0,
249.25
],
"projected_center_px": [
4364.947265625,
99.60661315917969
],
"reprojection_error_px": 149.67240761027298,
"confidence": 0.35232361994146455
}
]
},
"qa": {
"sanity_notes": []
}
}