Files
appRobotRender/data/evaluations/Scene9/render_a_camera_pose.json
2026-06-01 18:34:31 +02:00

470 lines
11 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-01T16:29:13Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\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,
1500.0,
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": 19,
"used_marker_ids": [
47,
210,
85,
79,
96,
62,
105,
75,
102,
92,
217,
61,
83,
206,
207,
72,
84,
86,
93
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.01688824416861389,
0.0026488948713162797,
0.0022847901177283567,
0.002284778536088292,
0.0022847785345118145
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 5.260777163796182,
"residual_median_px": 3.9336177789442863,
"residual_max_px": 9.206418967088428,
"sigma2_normalized": 6.199002880217139e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8034524321556091,
-0.5953208208084106,
0.0075734867714345455
],
[
-0.40606069564819336,
-0.5572388172149658,
-0.7242924571037292
],
[
0.4354065954685211,
0.578859269618988,
-0.689451277256012
]
],
"translation_m": [
-0.22647301852703094,
0.20879590511322021,
1.1456412076950073
],
"rvec_rad": [
2.2371428918604392,
-0.7344684570702414,
0.32490605356533975
]
},
"camera_in_world": {
"position_m": [
-0.23207563161849976,
-0.6816399693489075,
0.9428082704544067
],
"position_mm": [
-232.0756378173828,
-681.6399536132812,
942.8082885742188
],
"orientation_deg": {
"roll": 139.98336791992188,
"pitch": -25.811166763305664,
"yaw": -26.81179428100586
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.097591089411523e-05,
-1.3516690365163344e-05,
3.233947921489375e-06,
2.8375694519427413e-06,
6.358422974851678e-06,
1.0788754679638468e-05
],
[
-1.3516690365163376e-05,
1.6114384837211145e-05,
-8.778002475074104e-06,
-3.914652718179436e-06,
-4.423000384742518e-06,
-1.9181520799013528e-06
],
[
3.233947921489427e-06,
-8.77800247507413e-06,
5.513946330528815e-05,
8.433095193903186e-06,
-4.2346249444135545e-06,
-1.2253759154226465e-05
],
[
2.8375694519427536e-06,
-3.914652718179437e-06,
8.433095193903184e-06,
2.3821183334401835e-06,
3.118681673870334e-07,
-3.036440640129871e-07
],
[
6.358422974851689e-06,
-4.42300038474252e-06,
-4.234624944413562e-06,
3.1186816738703346e-07,
2.862874214018809e-06,
3.601866363327852e-06
],
[
1.0788754679638462e-05,
-1.9181520799013405e-06,
-1.2253759154226542e-05,
-3.0364406401299863e-07,
3.6018663633278545e-06,
1.615160848576946e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3667642028343509,
0.23000088015077183,
0.42545526236590314
],
"tvec_std_m": [
0.0015434112651656342,
0.001692003018324379,
0.00401890637932379
]
},
"camera_center_std_m": [
0.006748912533574303,
0.007725868343634181,
0.007397731347808048
],
"camera_center_std_mm": [
6.748912533574303,
7.725868343634182,
7.397731347808048
],
"orientation_std_deg": {
"roll": 0.4950206613769511,
"pitch": 0.3279056973051422,
"yaw": 0.2131206805888579
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"observed_center_px": [
984.25,
690.75
],
"projected_center_px": [
981.2843627929688,
684.5106811523438
],
"reprojection_error_px": 6.908263437829121,
"confidence": 0.12146268776527554
},
{
"marker_id": 210,
"observed_center_px": [
324.0,
632.0
],
"projected_center_px": [
331.15069580078125,
637.7987670898438
],
"reprojection_error_px": 9.206418967088428,
"confidence": 0.46829700346999537
},
{
"marker_id": 85,
"observed_center_px": [
1183.75,
610.25
],
"projected_center_px": [
1179.2086181640625,
606.8020629882812
],
"reprojection_error_px": 5.701966206192657,
"confidence": 0.4560525484643318
},
{
"marker_id": 79,
"observed_center_px": [
814.0,
599.0
],
"projected_center_px": [
815.020751953125,
596.3807373046875
],
"reprojection_error_px": 2.811133511035042,
"confidence": 0.5734281513866332
},
{
"marker_id": 96,
"observed_center_px": [
905.25,
587.25
],
"projected_center_px": [
904.92529296875,
584.64599609375
],
"reprojection_error_px": 2.624170535599477,
"confidence": 0.525542829627259
},
{
"marker_id": 62,
"observed_center_px": [
931.0,
557.5
],
"projected_center_px": [
930.7962036132812,
555.8448486328125
],
"reprojection_error_px": 1.6676507474715048,
"confidence": 0.5038606541951498
},
{
"marker_id": 105,
"observed_center_px": [
1150.25,
560.25
],
"projected_center_px": [
1147.2882080078125,
558.3479614257812
],
"reprojection_error_px": 3.5199378606449994,
"confidence": 0.43622925667631085
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
514.75
],
"projected_center_px": [
129.98768615722656,
514.7237548828125
],
"reprojection_error_px": 1.4879176417328084,
"confidence": 0.29844141482805986
},
{
"marker_id": 102,
"observed_center_px": [
1217.75,
461.5
],
"projected_center_px": [
1217.2900390625,
461.2925720214844
],
"reprojection_error_px": 0.5045695495141949,
"confidence": 0.2521714913889437
},
{
"marker_id": 92,
"observed_center_px": [
1173.25,
437.75
],
"projected_center_px": [
1173.5399169921875,
438.0331115722656
],
"reprojection_error_px": 0.4052209578856468,
"confidence": 0.31777455864589965
},
{
"marker_id": 217,
"observed_center_px": [
1087.75,
347.0
],
"projected_center_px": [
1091.2442626953125,
354.3226623535156
],
"reprojection_error_px": 8.113646265856527,
"confidence": 0.3029173397022545
},
{
"marker_id": 61,
"observed_center_px": [
58.5,
415.5
],
"projected_center_px": [
54.10175704956055,
416.18798828125
],
"reprojection_error_px": 4.4517265107177995,
"confidence": 0.1527342148240039
},
{
"marker_id": 83,
"observed_center_px": [
139.0,
383.0
],
"projected_center_px": [
133.5531005859375,
383.4892272949219
],
"reprojection_error_px": 5.468825886148779,
"confidence": 0.19743498130596515
},
{
"marker_id": 206,
"observed_center_px": [
1013.0,
301.0
],
"projected_center_px": [
1017.0421142578125,
307.5049133300781
],
"reprojection_error_px": 7.6584975749189335,
"confidence": 0.2849187633475991
},
{
"marker_id": 207,
"observed_center_px": [
1098.0,
262.0
],
"projected_center_px": [
1103.2645263671875,
267.52166748046875
],
"reprojection_error_px": 7.629157858877907,
"confidence": 0.24627951083020566
},
{
"marker_id": 72,
"observed_center_px": [
655.75,
300.75
],
"projected_center_px": [
654.464599609375,
299.97552490234375
],
"reprojection_error_px": 1.500688455712431,
"confidence": 0.1970529186973567
},
{
"marker_id": 84,
"observed_center_px": [
579.25,
279.75
],
"projected_center_px": [
576.6786499023438,
278.639404296875
],
"reprojection_error_px": 2.80093986735105,
"confidence": 0.1988568274481309
},
{
"marker_id": 86,
"observed_center_px": [
514.0,
278.75
],
"projected_center_px": [
510.1328430175781,
278.02996826171875
],
"reprojection_error_px": 3.9336177789442863,
"confidence": 0.17646704338372862
},
{
"marker_id": 93,
"observed_center_px": [
1104.25,
154.5
],
"projected_center_px": [
1111.6312255859375,
150.52688598632812
],
"reprojection_error_px": 8.38260855081127,
"confidence": 0.15396639291733288
}
]
},
"qa": {
"sanity_notes": []
}
}