369 lines
8.4 KiB
JSON
369 lines
8.4 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T05:24:01Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_c_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "c",
|
|
"camera_matrix": [
|
|
[
|
|
2000.0,
|
|
0.0,
|
|
720.0
|
|
],
|
|
[
|
|
0.0,
|
|
2000.0,
|
|
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": 12,
|
|
"used_marker_ids": [
|
|
58,
|
|
96,
|
|
62,
|
|
64,
|
|
103,
|
|
51,
|
|
79,
|
|
208,
|
|
215,
|
|
214,
|
|
210,
|
|
211
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.004615243620407225,
|
|
0.0016240856842413794,
|
|
0.0016198876023363316,
|
|
0.001619887586615354
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 4.581746141315907,
|
|
"residual_median_px": 4.435813592191235,
|
|
"residual_max_px": 7.101108780982503,
|
|
"sigma2_normalized": 3.4987143910271506e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.9918709397315979,
|
|
0.12671272456645966,
|
|
-0.011660023592412472
|
|
],
|
|
[
|
|
0.02620624378323555,
|
|
-0.29308047890663147,
|
|
-0.9557285308837891
|
|
],
|
|
[
|
|
-0.12452030181884766,
|
|
0.9476537704467773,
|
|
-0.2940186858177185
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.19619186222553253,
|
|
0.10813505202531815,
|
|
1.0083338022232056
|
|
],
|
|
"rvec_rad": [
|
|
1.8671128682666271,
|
|
0.11070969321584771,
|
|
-0.09859130866453486
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.317321240901947,
|
|
-0.898999035358429,
|
|
0.39752912521362305
|
|
],
|
|
"position_mm": [
|
|
317.32122802734375,
|
|
-898.9990234375,
|
|
397.52911376953125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 107.23699951171875,
|
|
"pitch": 7.153054237365723,
|
|
"yaw": 1.5134608745574951
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
6.959756996807975e-05,
|
|
1.1688762330222433e-06,
|
|
6.079411798173631e-06,
|
|
-5.837466304221457e-07,
|
|
-9.097027407978662e-06,
|
|
4.4636134345928046e-07
|
|
],
|
|
[
|
|
1.1688762330215977e-06,
|
|
2.2677982586359303e-05,
|
|
-3.059836598356964e-05,
|
|
4.114551799845292e-06,
|
|
-6.112791296902993e-07,
|
|
4.831658805448745e-06
|
|
],
|
|
[
|
|
6.0794117981759546e-06,
|
|
-3.0598365983569426e-05,
|
|
0.0001030647763463562,
|
|
-9.003560949274884e-06,
|
|
-6.097317975605303e-06,
|
|
-1.2609404908654946e-05
|
|
],
|
|
[
|
|
-5.837466304223393e-07,
|
|
4.114551799845282e-06,
|
|
-9.003560949274906e-06,
|
|
1.1571399036730627e-06,
|
|
3.273816229504428e-07,
|
|
1.248777588101568e-06
|
|
],
|
|
[
|
|
-9.097027407978798e-06,
|
|
-6.112791296904013e-07,
|
|
-6.097317975604982e-06,
|
|
3.273816229504187e-07,
|
|
2.2672320495666097e-06,
|
|
1.8101612254100426e-06
|
|
],
|
|
[
|
|
4.4636134345894223e-07,
|
|
4.8316588054487185e-06,
|
|
-1.2609404908654949e-05,
|
|
1.2487775881015821e-06,
|
|
1.810161225410089e-06,
|
|
8.427365923810952e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.4779909461868487,
|
|
0.2728505547730407,
|
|
0.5816714727854189
|
|
],
|
|
"tvec_std_m": [
|
|
0.001075704375594458,
|
|
0.0015057330605278646,
|
|
0.0029029925807364633
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.008376744841229819,
|
|
0.0038023787854790554,
|
|
0.006691547316499596
|
|
],
|
|
"camera_center_std_mm": [
|
|
8.376744841229819,
|
|
3.8023787854790556,
|
|
6.691547316499595
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.5115464644995066,
|
|
"pitch": 0.5065358521962163,
|
|
"yaw": 0.23448104674542614
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
283.0,
|
|
1034.0
|
|
],
|
|
"projected_center_px": [
|
|
287.2854309082031,
|
|
1036.528076171875
|
|
],
|
|
"reprojection_error_px": 4.975548934518161,
|
|
"confidence": 0.34134185624863755
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
1097.0,
|
|
1038.75
|
|
],
|
|
"projected_center_px": [
|
|
1091.1240234375,
|
|
1040.4439697265625
|
|
],
|
|
"reprojection_error_px": 6.115278734249122,
|
|
"confidence": 0.22610879831433603
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
1171.5,
|
|
1028.5
|
|
],
|
|
"projected_center_px": [
|
|
1178.354248046875,
|
|
1030.3560791015625
|
|
],
|
|
"reprojection_error_px": 7.101108780982503,
|
|
"confidence": 0.3612787707711435
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
149.5,
|
|
990.0
|
|
],
|
|
"projected_center_px": [
|
|
147.0460205078125,
|
|
989.2703857421875
|
|
],
|
|
"reprojection_error_px": 2.5601469319709182,
|
|
"confidence": 0.627290157669418
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
439.25,
|
|
1009.0
|
|
],
|
|
"projected_center_px": [
|
|
441.7829895019531,
|
|
1005.3040771484375
|
|
],
|
|
"reprojection_error_px": 4.480611737442402,
|
|
"confidence": 0.5322558856063425
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
598.75,
|
|
996.0
|
|
],
|
|
"projected_center_px": [
|
|
596.879638671875,
|
|
994.2493286132812
|
|
],
|
|
"reprojection_error_px": 2.5618551485244563,
|
|
"confidence": 0.5327847056473787
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
946.0,
|
|
998.75
|
|
],
|
|
"projected_center_px": [
|
|
946.7507934570312,
|
|
997.3475341796875
|
|
],
|
|
"reprojection_error_px": 1.5907863440027856,
|
|
"confidence": 0.48423420812018686
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1042.5,
|
|
866.75
|
|
],
|
|
"projected_center_px": [
|
|
1037.396728515625,
|
|
866.1358032226562
|
|
],
|
|
"reprojection_error_px": 5.140098980032823,
|
|
"confidence": 0.3845113529837918
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
812.25,
|
|
854.75
|
|
],
|
|
"projected_center_px": [
|
|
810.529296875,
|
|
855.7051391601562
|
|
],
|
|
"reprojection_error_px": 1.9680218646266998,
|
|
"confidence": 0.3703387843628071
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1026.5,
|
|
792.5
|
|
],
|
|
"projected_center_px": [
|
|
1033.4305419921875,
|
|
791.1577758789062
|
|
],
|
|
"reprojection_error_px": 7.059318515035298,
|
|
"confidence": 0.26033633278661333
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
357.75,
|
|
769.5
|
|
],
|
|
"projected_center_px": [
|
|
357.4304504394531,
|
|
771.5237426757812
|
|
],
|
|
"reprojection_error_px": 2.0488158383378323,
|
|
"confidence": 0.276814379287008
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
828.75,
|
|
782.0
|
|
],
|
|
"projected_center_px": [
|
|
824.3886108398438,
|
|
782.5092163085938
|
|
],
|
|
"reprojection_error_px": 4.391015446940068,
|
|
"confidence": 0.2192072563917946
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |