Files
appRobotRender/data/evaluations/Scene9b/render_d_camera_pose.json
2026-06-02 17:16:24 +02:00

327 lines
7.6 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T11:36:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "d",
"camera_matrix": [
[
6775.66162109375,
0.0,
2447.249267578125
],
[
0.0,
6791.1728515625,
1629.7935791015625
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 9,
"used_marker_ids": [
208,
69,
51,
103,
58,
214,
64,
211,
72
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.004409631119398495,
0.0016410085491184135,
0.0016382815498151495,
0.0016382811391802323
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 15.748726815784206,
"residual_median_px": 17.75562793034092,
"residual_max_px": 23.191113416966783,
"sigma2_normalized": 4.025947636218979e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.818547248840332,
0.5744375586509705,
0.001366971991956234
],
[
0.16032278537750244,
-0.2261662483215332,
-0.9608045816421509
],
[
-0.5516130328178406,
0.7866831421852112,
-0.2772231996059418
]
],
"translation_m": [
-0.11466307938098907,
0.0872294157743454,
1.123437762260437
],
"rvec_rad": [
1.7857981814848154,
0.5651031117227017,
-0.423193474209646
]
},
"camera_in_world": {
"position_m": [
0.6995751857757568,
-0.798194408416748,
0.3954101502895355
],
"position_mm": [
699.5751953125,
-798.1943969726562,
395.41015625
],
"orientation_deg": {
"roll": 109.41219329833984,
"pitch": 33.477745056152344,
"yaw": 11.081812858581543
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00015464723668327156,
4.8745940025895755e-05,
4.7494613476705636e-05,
-1.2890564418283505e-06,
-3.076333686925238e-05,
-9.32989358191025e-06
],
[
4.8745940025895315e-05,
4.815598388917624e-05,
-1.818065723037502e-05,
5.7024404375626025e-06,
-1.049192102387211e-05,
3.3962427401187924e-06
],
[
4.749461347670595e-05,
-1.818065723037486e-05,
9.524071281289979e-05,
-9.538407435618991e-06,
-1.2199627449580226e-05,
-1.5045754713269731e-05
],
[
-1.2890564418284312e-06,
5.702440437562585e-06,
-9.538407435619007e-06,
1.7363416606754966e-06,
2.8185760098234454e-07,
1.3307533865007527e-06
],
[
-3.076333686925231e-05,
-1.0491921023872153e-05,
-1.2199627449580162e-05,
2.818576009823329e-07,
7.076839885772087e-06,
3.7483008627504154e-06
],
[
-9.329893581910162e-06,
3.3962427401188042e-06,
-1.5045754713269674e-05,
1.33075338650075e-06,
3.748300862750397e-06,
1.1826307699278754e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.7125145125508764,
0.39760126974451554,
0.5591572379946738
],
"tvec_std_m": [
0.0013177031762409532,
0.0026602330510261856,
0.0034389399092276613
]
},
"camera_center_std_m": [
0.007475169517576727,
0.0067820366341872496,
0.01194867364966903
],
"camera_center_std_mm": [
7.475169517576727,
6.78203663418725,
11.948673649669031
],
"orientation_std_deg": {
"roll": 0.9890776494236445,
"pitch": 0.4918323810788995,
"yaw": 0.5548771483911074
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
3413.0,
2923.75
],
"projected_center_px": [
3395.29931640625,
2922.354248046875
],
"reprojection_error_px": 17.75562793034092,
"confidence": 0.1990905000445319
},
{
"marker_id": 69,
"observed_center_px": [
436.5,
2959.0
],
"projected_center_px": [
422.1922607421875,
2969.94580078125
],
"reprojection_error_px": 18.01449298238399,
"confidence": 0.5826930264755049
},
{
"marker_id": 51,
"observed_center_px": [
1869.25,
2985.0
],
"projected_center_px": [
1875.028564453125,
2979.21923828125
],
"reprojection_error_px": 8.17367806974836,
"confidence": 0.9272613659217128
},
{
"marker_id": 103,
"observed_center_px": [
1428.5,
2909.0
],
"projected_center_px": [
1449.9820556640625,
2900.26220703125
],
"reprojection_error_px": 23.191113416966783,
"confidence": 0.7220412377320486
},
{
"marker_id": 58,
"observed_center_px": [
992.25,
2868.75
],
"projected_center_px": [
998.0635375976562,
2876.6669921875
],
"reprojection_error_px": 9.822218929361066,
"confidence": 0.5430224242818117
},
{
"marker_id": 214,
"observed_center_px": [
3648.5,
2698.75
],
"projected_center_px": [
3668.580078125,
2700.844482421875
],
"reprojection_error_px": 20.189016670498017,
"confidence": 0.22216690286087418
},
{
"marker_id": 64,
"observed_center_px": [
811.0,
2680.75
],
"projected_center_px": [
808.1759033203125,
2673.466064453125
],
"reprojection_error_px": 7.812249298841606,
"confidence": 0.3486727067177227
},
{
"marker_id": 211,
"observed_center_px": [
3050.75,
2531.75
],
"projected_center_px": [
3031.335205078125,
2528.35400390625
],
"reprojection_error_px": 19.709567507361204,
"confidence": 0.12615422339488216
},
{
"marker_id": 72,
"observed_center_px": [
4782.0,
2541.5
],
"projected_center_px": [
4783.4990234375,
2547.153564453125
],
"reprojection_error_px": 5.848919754263423,
"confidence": 0.06439102883128758
}
]
},
"qa": {
"sanity_notes": []
}
}