719 lines
16 KiB
JSON
719 lines
16 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-10T10:41:07Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\test\\temp\\cam0_hires_1781074183695_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\testPictures\\robot_1781069752019.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "cam0",
|
|
"camera_matrix": [
|
|
[
|
|
1429.6978759765625,
|
|
0.0,
|
|
633.3245239257812
|
|
],
|
|
[
|
|
0.0,
|
|
1414.5067138671875,
|
|
468.4399108886719
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0862322673201561,
|
|
0.14179007709026337,
|
|
0.0014998731203377247,
|
|
-0.004277258180081844,
|
|
-0.7496029734611511
|
|
]
|
|
},
|
|
"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": 37,
|
|
"used_marker_ids": [
|
|
95,
|
|
97,
|
|
51,
|
|
55,
|
|
54,
|
|
47,
|
|
79,
|
|
96,
|
|
85,
|
|
62,
|
|
57,
|
|
105,
|
|
59,
|
|
48,
|
|
102,
|
|
86,
|
|
71,
|
|
92,
|
|
72,
|
|
84,
|
|
65,
|
|
80,
|
|
89,
|
|
60,
|
|
56,
|
|
63,
|
|
99,
|
|
68,
|
|
46,
|
|
87,
|
|
67,
|
|
50,
|
|
98,
|
|
76,
|
|
70,
|
|
100,
|
|
91
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.013977914197306877,
|
|
0.0012063861436378766,
|
|
0.00041790882674225575,
|
|
0.000417864448222557
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 0.8488907668283678,
|
|
"residual_median_px": 0.6015952243821542,
|
|
"residual_max_px": 3.215993321685572,
|
|
"sigma2_normalized": 1.900175232935359e-07
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.7153297066688538,
|
|
-0.6744856238365173,
|
|
0.18268170952796936
|
|
],
|
|
[
|
|
-0.24956846237182617,
|
|
-0.4907773733139038,
|
|
-0.834777295589447
|
|
],
|
|
[
|
|
0.6527013182640076,
|
|
0.5515493750572205,
|
|
-0.5193979740142822
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.5062417984008789,
|
|
0.09014879167079926,
|
|
0.7660393714904785
|
|
],
|
|
"rvec_rad": [
|
|
2.0691228499009884,
|
|
-0.7015145339853286,
|
|
0.6341981126084956
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.11536678671836853,
|
|
-0.719718337059021,
|
|
0.5656145811080933
|
|
],
|
|
"position_mm": [
|
|
-115.36678314208984,
|
|
-719.7183227539062,
|
|
565.6145629882812
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 133.28041076660156,
|
|
"pitch": -40.74557876586914,
|
|
"yaw": -19.2331600189209
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
2.384673507521362e-07,
|
|
-4.007478825357904e-08,
|
|
-8.83056895699674e-08,
|
|
-2.241640771133345e-08,
|
|
5.7720270356521624e-08,
|
|
1.378850799895014e-07
|
|
],
|
|
[
|
|
-4.0074788253579336e-08,
|
|
1.2484717569362809e-07,
|
|
5.533958978882963e-08,
|
|
-4.109574324899393e-09,
|
|
-6.375572286576732e-08,
|
|
-3.447971573741165e-08
|
|
],
|
|
[
|
|
-8.830568956996727e-08,
|
|
5.533958978882929e-08,
|
|
3.5195680429658137e-07,
|
|
7.077668257887362e-08,
|
|
-9.83714238710889e-08,
|
|
-1.8066440288226506e-07
|
|
],
|
|
[
|
|
-2.2416407711333367e-08,
|
|
-4.10957432489948e-09,
|
|
7.07766825788736e-08,
|
|
2.2608963627527025e-08,
|
|
-1.477120449173928e-08,
|
|
-4.530858533789268e-08
|
|
],
|
|
[
|
|
5.772027035652173e-08,
|
|
-6.375572286576727e-08,
|
|
-9.837142387108908e-08,
|
|
-1.4771204491739334e-08,
|
|
5.6162582570999035e-08,
|
|
7.030683489124922e-08
|
|
],
|
|
[
|
|
1.3788507998950147e-07,
|
|
-3.44797157374115e-08,
|
|
-1.8066440288226543e-07,
|
|
-4.53085853378928e-08,
|
|
7.030683489124922e-08,
|
|
2.3454528563310696e-07
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.02797931616962056,
|
|
0.020244730206848253,
|
|
0.03399126405526364
|
|
],
|
|
"tvec_std_m": [
|
|
0.00015036277340993356,
|
|
0.0002369864607335175,
|
|
0.0004842987565884378
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.0003928571281192472,
|
|
0.00037055936963847897,
|
|
0.0005785760565158723
|
|
],
|
|
"camera_center_std_mm": [
|
|
0.39285712811924717,
|
|
0.37055936963847896,
|
|
0.5785760565158723
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.034843440181318734,
|
|
"pitch": 0.02499050875561387,
|
|
"yaw": 0.029035517784143414
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
259.25,
|
|
854.0
|
|
],
|
|
"projected_center_px": [
|
|
258.490478515625,
|
|
853.5327758789062
|
|
],
|
|
"reprojection_error_px": 0.8917237602301682,
|
|
"confidence": 0.8258754592596019
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
538.5,
|
|
857.75
|
|
],
|
|
"projected_center_px": [
|
|
538.7420654296875,
|
|
858.910888671875
|
|
],
|
|
"reprojection_error_px": 1.1858575718599158,
|
|
"confidence": 0.9204299158225671
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
129.5,
|
|
750.75
|
|
],
|
|
"projected_center_px": [
|
|
128.6764678955078,
|
|
750.4482421875
|
|
],
|
|
"reprojection_error_px": 0.8770763390572774,
|
|
"confidence": 0.6584739246254625
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
402.75,
|
|
765.25
|
|
],
|
|
"projected_center_px": [
|
|
402.4529724121094,
|
|
765.8202514648438
|
|
],
|
|
"reprojection_error_px": 0.6429713221634116,
|
|
"confidence": 0.7393243794945659
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
557.0,
|
|
796.75
|
|
],
|
|
"projected_center_px": [
|
|
556.9273071289062,
|
|
797.4539184570312
|
|
],
|
|
"reprojection_error_px": 0.7076619586053134,
|
|
"confidence": 0.7478392159262601
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
510.5,
|
|
750.25
|
|
],
|
|
"projected_center_px": [
|
|
511.28216552734375,
|
|
750.1286010742188
|
|
],
|
|
"reprojection_error_px": 0.7915305498499524,
|
|
"confidence": 0.7141846645068768
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
343.25,
|
|
648.75
|
|
],
|
|
"projected_center_px": [
|
|
342.9404296875,
|
|
648.327880859375
|
|
],
|
|
"reprojection_error_px": 0.5234676181611774,
|
|
"confidence": 0.545522217065577
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
443.5,
|
|
642.0
|
|
],
|
|
"projected_center_px": [
|
|
444.098388671875,
|
|
641.9876708984375
|
|
],
|
|
"reprojection_error_px": 0.5985156717861821,
|
|
"confidence": 0.5196626187985754
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
725.5,
|
|
682.25
|
|
],
|
|
"projected_center_px": [
|
|
725.919189453125,
|
|
681.0695190429688
|
|
],
|
|
"reprojection_error_px": 1.2526991209083898,
|
|
"confidence": 0.4333112154683819
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
476.0,
|
|
615.0
|
|
],
|
|
"projected_center_px": [
|
|
476.35174560546875,
|
|
615.0320434570312
|
|
],
|
|
"reprojection_error_px": 0.35320214340387446,
|
|
"confidence": 0.48909895359164274
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
877.0,
|
|
674.75
|
|
],
|
|
"projected_center_px": [
|
|
877.175048828125,
|
|
674.4921875
|
|
],
|
|
"reprojection_error_px": 0.3116237753833712,
|
|
"confidence": 0.3447832172321244
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"observed_center_px": [
|
|
697.0,
|
|
632.5
|
|
],
|
|
"projected_center_px": [
|
|
697.4603271484375,
|
|
631.9234008789062
|
|
],
|
|
"reprojection_error_px": 0.7378127337168187,
|
|
"confidence": 0.3941136916116856
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
805.5,
|
|
596.75
|
|
],
|
|
"projected_center_px": [
|
|
805.6655883789062,
|
|
596.3532104492188
|
|
],
|
|
"reprojection_error_px": 0.42995518235972685,
|
|
"confidence": 0.272074573917431
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
902.25,
|
|
601.5
|
|
],
|
|
"projected_center_px": [
|
|
902.2860107421875,
|
|
601.1778564453125
|
|
],
|
|
"reprojection_error_px": 0.32415003220668187,
|
|
"confidence": 0.27826623535156253
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
771.25,
|
|
547.75
|
|
],
|
|
"projected_center_px": [
|
|
770.7193603515625,
|
|
547.3040771484375
|
|
],
|
|
"reprojection_error_px": 0.6931274241000027,
|
|
"confidence": 0.27992431449450633
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
79.25,
|
|
320.25
|
|
],
|
|
"projected_center_px": [
|
|
78.74799346923828,
|
|
321.10186767578125
|
|
],
|
|
"reprojection_error_px": 0.988781620970154,
|
|
"confidence": 0.1358137908003952
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
912.0,
|
|
552.0
|
|
],
|
|
"projected_center_px": [
|
|
912.014404296875,
|
|
551.594970703125
|
|
],
|
|
"reprojection_error_px": 0.40528535021083606,
|
|
"confidence": 0.23938019040412045
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"observed_center_px": [
|
|
730.25,
|
|
523.75
|
|
],
|
|
"projected_center_px": [
|
|
730.6965942382812,
|
|
523.346923828125
|
|
],
|
|
"reprojection_error_px": 0.6015952243821542,
|
|
"confidence": 0.2632574407582938
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
231.25,
|
|
355.0
|
|
],
|
|
"projected_center_px": [
|
|
231.26632690429688,
|
|
356.1981201171875
|
|
],
|
|
"reprojection_error_px": 1.198231356213527,
|
|
"confidence": 0.2033684790201144
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"observed_center_px": [
|
|
151.5,
|
|
328.5
|
|
],
|
|
"projected_center_px": [
|
|
152.23899841308594,
|
|
329.2857971191406
|
|
],
|
|
"reprojection_error_px": 1.078700962729356,
|
|
"confidence": 0.16272265589141124
|
|
},
|
|
{
|
|
"marker_id": 65,
|
|
"observed_center_px": [
|
|
965.0,
|
|
541.5
|
|
],
|
|
"projected_center_px": [
|
|
965.0440673828125,
|
|
541.2013549804688
|
|
],
|
|
"reprojection_error_px": 0.30187875367233796,
|
|
"confidence": 0.1894175373214682
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
1046.25,
|
|
545.25
|
|
],
|
|
"projected_center_px": [
|
|
1046.1553955078125,
|
|
545.08056640625
|
|
],
|
|
"reprojection_error_px": 0.194056055388887,
|
|
"confidence": 0.16189579196314718
|
|
},
|
|
{
|
|
"marker_id": 89,
|
|
"observed_center_px": [
|
|
1159.25,
|
|
521.5
|
|
],
|
|
"projected_center_px": [
|
|
1157.6162109375,
|
|
524.2700805664062
|
|
],
|
|
"reprojection_error_px": 3.215993321685572,
|
|
"confidence": 0.17985049003304185
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"observed_center_px": [
|
|
167.5,
|
|
310.0
|
|
],
|
|
"projected_center_px": [
|
|
167.38864135742188,
|
|
310.4362487792969
|
|
],
|
|
"reprojection_error_px": 0.4502374314901596,
|
|
"confidence": 0.15039999323852157
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
311.0,
|
|
355.75
|
|
],
|
|
"projected_center_px": [
|
|
310.8277587890625,
|
|
356.5285339355469
|
|
],
|
|
"reprojection_error_px": 0.7973594694636303,
|
|
"confidence": 0.20911960257932388
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
885.75,
|
|
511.25
|
|
],
|
|
"projected_center_px": [
|
|
885.6793212890625,
|
|
511.126708984375
|
|
],
|
|
"reprojection_error_px": 0.14211317572143223,
|
|
"confidence": 0.2003141260801938
|
|
},
|
|
{
|
|
"marker_id": 99,
|
|
"observed_center_px": [
|
|
1091.75,
|
|
505.0
|
|
],
|
|
"projected_center_px": [
|
|
1091.5972900390625,
|
|
505.013671875
|
|
],
|
|
"reprojection_error_px": 0.15332074985320285,
|
|
"confidence": 0.15127373626685678
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
385.25,
|
|
339.0
|
|
],
|
|
"projected_center_px": [
|
|
384.7447204589844,
|
|
338.80047607421875
|
|
],
|
|
"reprojection_error_px": 0.5432469158017581,
|
|
"confidence": 0.181058749706097
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
338.25,
|
|
339.25
|
|
],
|
|
"projected_center_px": [
|
|
338.55401611328125,
|
|
339.2395324707031
|
|
],
|
|
"reprojection_error_px": 0.3041962628044907,
|
|
"confidence": 0.16268174014312184
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
1008.25,
|
|
466.75
|
|
],
|
|
"projected_center_px": [
|
|
1008.1798706054688,
|
|
466.3894348144531
|
|
],
|
|
"reprojection_error_px": 0.36732190923735014,
|
|
"confidence": 0.13144713990357454
|
|
},
|
|
{
|
|
"marker_id": 67,
|
|
"observed_center_px": [
|
|
272.5,
|
|
301.5
|
|
],
|
|
"projected_center_px": [
|
|
272.3302001953125,
|
|
301.4171142578125
|
|
],
|
|
"reprojection_error_px": 0.18894978150261477,
|
|
"confidence": 0.1526939471328476
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"observed_center_px": [
|
|
357.25,
|
|
318.75
|
|
],
|
|
"projected_center_px": [
|
|
357.13116455078125,
|
|
318.4410400390625
|
|
],
|
|
"reprojection_error_px": 0.33102586221249186,
|
|
"confidence": 0.16588357002730827
|
|
},
|
|
{
|
|
"marker_id": 98,
|
|
"observed_center_px": [
|
|
294.0,
|
|
270.5
|
|
],
|
|
"projected_center_px": [
|
|
294.2515869140625,
|
|
269.8180236816406
|
|
],
|
|
"reprojection_error_px": 0.7269027955170481,
|
|
"confidence": 0.12006603211516774
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"observed_center_px": [
|
|
488.0,
|
|
318.75
|
|
],
|
|
"projected_center_px": [
|
|
488.0938720703125,
|
|
318.10589599609375
|
|
],
|
|
"reprojection_error_px": 0.6509085445996369,
|
|
"confidence": 0.14193112858785442
|
|
},
|
|
{
|
|
"marker_id": 70,
|
|
"observed_center_px": [
|
|
328.0,
|
|
272.25
|
|
],
|
|
"projected_center_px": [
|
|
328.2170715332031,
|
|
272.0340270996094
|
|
],
|
|
"reprojection_error_px": 0.3062096409819492,
|
|
"confidence": 0.11352543707690875
|
|
},
|
|
{
|
|
"marker_id": 100,
|
|
"observed_center_px": [
|
|
578.5,
|
|
294.75
|
|
],
|
|
"projected_center_px": [
|
|
579.1131591796875,
|
|
294.27313232421875
|
|
],
|
|
"reprojection_error_px": 0.7767669919866956,
|
|
"confidence": 0.13400150965155774
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"observed_center_px": [
|
|
416.75,
|
|
242.25
|
|
],
|
|
"projected_center_px": [
|
|
417.3974609375,
|
|
241.78074645996094
|
|
],
|
|
"reprojection_error_px": 0.7996277574143927,
|
|
"confidence": 0.11558895571856645
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |