383 lines
8.8 KiB
JSON
383 lines
8.8 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_d_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "d",
|
|
"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": 13,
|
|
"used_marker_ids": [
|
|
95,
|
|
79,
|
|
208,
|
|
69,
|
|
51,
|
|
103,
|
|
215,
|
|
58,
|
|
214,
|
|
64,
|
|
211,
|
|
72,
|
|
210
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.005280661861970249,
|
|
0.00144727257981188,
|
|
0.0014397336755201193,
|
|
0.0014397336334661356
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 4.072181614150245,
|
|
"residual_median_px": 3.1055233944577676,
|
|
"residual_max_px": 6.549244562604083,
|
|
"sigma2_normalized": 2.6946828159331417e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.8162084817886353,
|
|
0.5777562856674194,
|
|
-0.00116585788782686
|
|
],
|
|
[
|
|
0.16109800338745117,
|
|
-0.22952349483966827,
|
|
-0.9598783254623413
|
|
],
|
|
[
|
|
-0.5548433065414429,
|
|
0.7832730412483215,
|
|
-0.2804144024848938
|
|
]
|
|
],
|
|
"translation_m": [
|
|
-0.11429616808891296,
|
|
0.08662492036819458,
|
|
1.1251342296600342
|
|
],
|
|
"rvec_rad": [
|
|
1.7888641155861158,
|
|
0.5681972273262575,
|
|
-0.42758482030561973
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.7036075592041016,
|
|
-0.795369565486908,
|
|
0.39851996302604675
|
|
],
|
|
"position_mm": [
|
|
703.6075439453125,
|
|
-795.3695678710938,
|
|
398.51995849609375
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 109.6975326538086,
|
|
"pitch": 33.69992446899414,
|
|
"yaw": 11.165164947509766
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.546895351742844e-05,
|
|
9.896592472599479e-06,
|
|
7.677087485067508e-06,
|
|
-3.289082421053511e-07,
|
|
-6.757139645553152e-06,
|
|
2.8909357806575656e-07
|
|
],
|
|
[
|
|
9.896592472599549e-06,
|
|
1.4875865779808891e-05,
|
|
-5.832008909084875e-06,
|
|
2.208486278695395e-06,
|
|
-2.5545007780139315e-06,
|
|
1.7903709382968203e-06
|
|
],
|
|
[
|
|
7.677087485067167e-06,
|
|
-5.832008909084883e-06,
|
|
3.145686254824771e-05,
|
|
-3.517659367637784e-06,
|
|
-2.770144779684103e-06,
|
|
-3.4747946329326245e-06
|
|
],
|
|
[
|
|
-3.2890824210532233e-07,
|
|
2.2084862786954086e-06,
|
|
-3.5176593676377983e-06,
|
|
7.748655922718187e-07,
|
|
4.134068251059262e-08,
|
|
3.3553809462382777e-07
|
|
],
|
|
[
|
|
-6.757139645553122e-06,
|
|
-2.554500778013915e-06,
|
|
-2.770144779684149e-06,
|
|
4.1340682510600795e-08,
|
|
1.8047775076887459e-06,
|
|
1.01101997722802e-06
|
|
],
|
|
[
|
|
2.8909357806583766e-07,
|
|
1.7903709382968299e-06,
|
|
-3.4747946329326063e-06,
|
|
3.355380946238432e-07,
|
|
1.0110199772280057e-06,
|
|
5.948406005486526e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.34122969659055974,
|
|
0.22098548966816584,
|
|
0.32135150244682875
|
|
],
|
|
"tvec_std_m": [
|
|
0.0008802645013129966,
|
|
0.001343420078638378,
|
|
0.002438935424624138
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.00420518761935822,
|
|
0.004035539737944341,
|
|
0.005875404305514575
|
|
],
|
|
"camera_center_std_mm": [
|
|
4.20518761935822,
|
|
4.035539737944341,
|
|
5.875404305514575
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.47176277926260973,
|
|
"pitch": 0.2916080604719235,
|
|
"yaw": 0.2839472448045676
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
422.0,
|
|
1048.0
|
|
],
|
|
"projected_center_px": [
|
|
423.61181640625,
|
|
1044.8646240234375
|
|
],
|
|
"reprojection_error_px": 3.525412690999724,
|
|
"confidence": 0.1966298037464167
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"observed_center_px": [
|
|
835.25,
|
|
1017.25
|
|
],
|
|
"projected_center_px": [
|
|
836.6884765625,
|
|
1018.293212890625
|
|
],
|
|
"reprojection_error_px": 1.7769378030837164,
|
|
"confidence": 0.6308599149142898
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
1003.5,
|
|
919.75
|
|
],
|
|
"projected_center_px": [
|
|
997.5079345703125,
|
|
919.7905883789062
|
|
],
|
|
"reprojection_error_px": 5.992202894608817,
|
|
"confidence": 0.6159321401194328
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
128.0,
|
|
929.75
|
|
],
|
|
"projected_center_px": [
|
|
124.33126068115234,
|
|
933.2605590820312
|
|
],
|
|
"reprojection_error_px": 5.077762623251589,
|
|
"confidence": 0.6598390021609063
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
549.0,
|
|
937.75
|
|
],
|
|
"projected_center_px": [
|
|
550.4237670898438,
|
|
936.4151000976562
|
|
],
|
|
"reprojection_error_px": 1.9516840101306088,
|
|
"confidence": 0.7948303912231248
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
419.5,
|
|
915.25
|
|
],
|
|
"projected_center_px": [
|
|
425.6794738769531,
|
|
913.0805053710938
|
|
],
|
|
"reprojection_error_px": 6.549244562604083,
|
|
"confidence": 0.7846660865006628
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
805.25,
|
|
860.25
|
|
],
|
|
"projected_center_px": [
|
|
802.4540405273438,
|
|
861.6016235351562
|
|
],
|
|
"reprojection_error_px": 3.1055233944577676,
|
|
"confidence": 0.5682950455343564
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
292.0,
|
|
903.5
|
|
],
|
|
"projected_center_px": [
|
|
293.1023254394531,
|
|
906.0203247070312
|
|
],
|
|
"reprojection_error_px": 2.7508467793277185,
|
|
"confidence": 0.7531448873008529
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"observed_center_px": [
|
|
1073.0,
|
|
853.25
|
|
],
|
|
"projected_center_px": [
|
|
1078.8189697265625,
|
|
854.2210693359375
|
|
],
|
|
"reprojection_error_px": 5.89943932368568,
|
|
"confidence": 0.4278239208073023
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
238.5,
|
|
848.0
|
|
],
|
|
"projected_center_px": [
|
|
237.8762969970703,
|
|
846.0831298828125
|
|
],
|
|
"reprojection_error_px": 2.0157868146284543,
|
|
"confidence": 0.5667786136218291
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"observed_center_px": [
|
|
897.0,
|
|
804.25
|
|
],
|
|
"projected_center_px": [
|
|
891.6453247070312,
|
|
803.4764404296875
|
|
],
|
|
"reprojection_error_px": 5.410262646300272,
|
|
"confidence": 0.43521670392955913
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1406.25,
|
|
807.0
|
|
],
|
|
"projected_center_px": [
|
|
1408.1475830078125,
|
|
807.7481689453125
|
|
],
|
|
"reprojection_error_px": 2.039749504784534,
|
|
"confidence": 0.023139854786786464
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
521.75,
|
|
712.25
|
|
],
|
|
"projected_center_px": [
|
|
520.5487060546875,
|
|
711.4475708007812
|
|
],
|
|
"reprojection_error_px": 1.4446452030873589,
|
|
"confidence": 0.3343680870644677
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |