565 lines
13 KiB
JSON
565 lines
13 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T05:24:02Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_f_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"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": 26,
|
|
"used_marker_ids": [
|
|
68,
|
|
46,
|
|
53,
|
|
56,
|
|
97,
|
|
215,
|
|
54,
|
|
47,
|
|
55,
|
|
62,
|
|
72,
|
|
66,
|
|
95,
|
|
51,
|
|
103,
|
|
82,
|
|
73,
|
|
58,
|
|
69,
|
|
210,
|
|
64,
|
|
52,
|
|
83,
|
|
77,
|
|
75,
|
|
61
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.008416632156341888,
|
|
0.0014563332850688533,
|
|
0.0013700095280301426,
|
|
0.0013700078453338556
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.874965136212424,
|
|
"residual_median_px": 3.5227997775150444,
|
|
"residual_max_px": 5.852012771734456,
|
|
"sigma2_normalized": 2.121737343320966e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
0.3160955309867859,
|
|
0.9487238526344299,
|
|
0.0025797339621931314
|
|
],
|
|
[
|
|
0.9179052114486694,
|
|
-0.30513763427734375,
|
|
-0.2536553144454956
|
|
],
|
|
[
|
|
-0.23986166715621948,
|
|
0.08254725486040115,
|
|
-0.9672912359237671
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.1259421855211258,
|
|
-0.2002721130847931,
|
|
1.4973636865615845
|
|
],
|
|
"rvec_rad": [
|
|
2.3718102217212973,
|
|
1.7103527942113022,
|
|
-0.21741642475062148
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
0.5031812191009521,
|
|
-0.30419817566871643,
|
|
1.3972618579864502
|
|
],
|
|
"position_mm": [
|
|
503.18121337890625,
|
|
-304.19818115234375,
|
|
1397.2618408203125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": 175.1222686767578,
|
|
"pitch": 13.878375053405762,
|
|
"yaw": 70.99801635742188
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
3.1852406112065966e-05,
|
|
1.9154435746919504e-05,
|
|
-6.700836600353422e-06,
|
|
-4.4237574567895556e-07,
|
|
2.186715816472518e-07,
|
|
2.708892861310153e-06
|
|
],
|
|
[
|
|
1.9154435746919436e-05,
|
|
1.7468854564826478e-05,
|
|
-1.0730851362144012e-05,
|
|
3.894759950513676e-07,
|
|
3.4742005599867713e-08,
|
|
2.9816302231205955e-06
|
|
],
|
|
[
|
|
-6.700836600349839e-06,
|
|
-1.0730851362140909e-05,
|
|
0.00018216669310099345,
|
|
1.5680581098036084e-06,
|
|
-1.8029038769530656e-06,
|
|
-3.208921592765715e-05
|
|
],
|
|
[
|
|
-4.4237574567890595e-07,
|
|
3.89475995051409e-07,
|
|
1.5680581098035165e-06,
|
|
3.423267966842042e-07,
|
|
-2.7126410073583545e-08,
|
|
2.237739787962633e-07
|
|
],
|
|
[
|
|
2.1867158164721044e-07,
|
|
3.4742005599833025e-08,
|
|
-1.8029038769530764e-06,
|
|
-2.712641007358468e-08,
|
|
2.0016294054453288e-07,
|
|
4.050286942907722e-07
|
|
],
|
|
[
|
|
2.7088928613095747e-06,
|
|
2.9816302231200902e-06,
|
|
-3.208921592765738e-05,
|
|
2.237739787962445e-07,
|
|
4.050286942907732e-07,
|
|
9.793703306119337e-06
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.3233655532796328,
|
|
0.2394720582716155,
|
|
0.7733162204897694
|
|
],
|
|
"tvec_std_m": [
|
|
0.0005850869992438767,
|
|
0.00044739573147777446,
|
|
0.0031294893043625083
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.010989660525404944,
|
|
0.012445042819574278,
|
|
0.004844640964346519
|
|
],
|
|
"camera_center_std_mm": [
|
|
10.989660525404943,
|
|
12.445042819574278,
|
|
4.844640964346519
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.532669618958499,
|
|
"pitch": 0.42398468857728244,
|
|
"yaw": 0.10265499147381701
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
1395.25,
|
|
942.0
|
|
],
|
|
"projected_center_px": [
|
|
1390.0498046875,
|
|
941.6648559570312
|
|
],
|
|
"reprojection_error_px": 5.210983862734984,
|
|
"confidence": 0.29729413038864677
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
1383.75,
|
|
882.5
|
|
],
|
|
"projected_center_px": [
|
|
1388.56787109375,
|
|
884.1957397460938
|
|
],
|
|
"reprojection_error_px": 5.107584082761038,
|
|
"confidence": 0.46634796204782664
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
1400.25,
|
|
805.75
|
|
],
|
|
"projected_center_px": [
|
|
1395.152099609375,
|
|
804.2342529296875
|
|
],
|
|
"reprojection_error_px": 5.3184657161530575,
|
|
"confidence": 0.24205987777153554
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
1341.75,
|
|
844.0
|
|
],
|
|
"projected_center_px": [
|
|
1345.5269775390625,
|
|
840.302001953125
|
|
],
|
|
"reprojection_error_px": 5.285900953032883,
|
|
"confidence": 0.6720101269988878
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
554.75,
|
|
818.0
|
|
],
|
|
"projected_center_px": [
|
|
552.3075561523438,
|
|
815.5173950195312
|
|
],
|
|
"reprojection_error_px": 3.4826512082036163,
|
|
"confidence": 0.7144285455619288
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
889.0,
|
|
620.0
|
|
],
|
|
"projected_center_px": [
|
|
887.28466796875,
|
|
619.165283203125
|
|
],
|
|
"reprojection_error_px": 1.90764674623409,
|
|
"confidence": 0.7068260740006296
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
610.5,
|
|
848.75
|
|
],
|
|
"projected_center_px": [
|
|
607.4749145507812,
|
|
853.4927368164062
|
|
],
|
|
"reprojection_error_px": 5.6253617203492166,
|
|
"confidence": 0.7005026944924987
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"observed_center_px": [
|
|
664.75,
|
|
836.5
|
|
],
|
|
"projected_center_px": [
|
|
667.56298828125,
|
|
836.3667602539062
|
|
],
|
|
"reprojection_error_px": 2.81614202418645,
|
|
"confidence": 0.6877833343649649
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
676.0,
|
|
745.75
|
|
],
|
|
"projected_center_px": [
|
|
673.193115234375,
|
|
745.2991943359375
|
|
],
|
|
"reprojection_error_px": 2.8428555774517537,
|
|
"confidence": 0.6761108765479277
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
845.75,
|
|
863.25
|
|
],
|
|
"projected_center_px": [
|
|
844.1627197265625,
|
|
867.9298095703125
|
|
],
|
|
"reprojection_error_px": 4.941667358375338,
|
|
"confidence": 0.6334920995585299
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
1346.5,
|
|
753.25
|
|
],
|
|
"projected_center_px": [
|
|
1347.07373046875,
|
|
752.1920166015625
|
|
],
|
|
"reprojection_error_px": 1.203534595323897,
|
|
"confidence": 0.63555573802114
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
508.0,
|
|
693.0
|
|
],
|
|
"projected_center_px": [
|
|
508.7984619140625,
|
|
692.4354248046875
|
|
],
|
|
"reprojection_error_px": 0.9778990639991935,
|
|
"confidence": 0.6946666666666667
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
612.5,
|
|
626.0
|
|
],
|
|
"projected_center_px": [
|
|
616.550048828125,
|
|
623.8281860351562
|
|
],
|
|
"reprojection_error_px": 4.595614366772631,
|
|
"confidence": 0.6412938250103973
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"observed_center_px": [
|
|
739.25,
|
|
559.0
|
|
],
|
|
"projected_center_px": [
|
|
741.310791015625,
|
|
557.947509765625
|
|
],
|
|
"reprojection_error_px": 2.3139998495106826,
|
|
"confidence": 0.6355340780755219
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
690.0,
|
|
487.75
|
|
],
|
|
"projected_center_px": [
|
|
694.6463012695312,
|
|
487.349609375
|
|
],
|
|
"reprojection_error_px": 4.66352100240104,
|
|
"confidence": 0.5954680843098741
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"observed_center_px": [
|
|
1356.75,
|
|
429.5
|
|
],
|
|
"projected_center_px": [
|
|
1358.0069580078125,
|
|
429.1807861328125
|
|
],
|
|
"reprojection_error_px": 1.2968580980233604,
|
|
"confidence": 0.6065602887376399
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"observed_center_px": [
|
|
1401.75,
|
|
418.5
|
|
],
|
|
"projected_center_px": [
|
|
1403.525390625,
|
|
417.8912048339844
|
|
],
|
|
"reprojection_error_px": 1.8768706469818006,
|
|
"confidence": 0.20623049817079758
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
632.75,
|
|
428.25
|
|
],
|
|
"projected_center_px": [
|
|
632.6746826171875,
|
|
431.7947692871094
|
|
],
|
|
"reprojection_error_px": 3.5455693487770947,
|
|
"confidence": 0.5951948697115713
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
538.5,
|
|
403.0
|
|
],
|
|
"projected_center_px": [
|
|
535.1592407226562,
|
|
405.8141784667969
|
|
],
|
|
"reprojection_error_px": 4.3680971820853,
|
|
"confidence": 0.5651459847123547
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"observed_center_px": [
|
|
872.25,
|
|
307.5
|
|
],
|
|
"projected_center_px": [
|
|
872.0038452148438,
|
|
304.0086364746094
|
|
],
|
|
"reprojection_error_px": 3.5000302062529935,
|
|
"confidence": 0.5825378815199377
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
640.5,
|
|
337.75
|
|
],
|
|
"projected_center_px": [
|
|
641.4583740234375,
|
|
334.579345703125
|
|
],
|
|
"reprojection_error_px": 3.312329910967759,
|
|
"confidence": 0.5461129593472626
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"observed_center_px": [
|
|
1190.75,
|
|
312.5
|
|
],
|
|
"projected_center_px": [
|
|
1186.0,
|
|
315.9181213378906
|
|
],
|
|
"reprojection_error_px": 5.852012771734456,
|
|
"confidence": 0.5743827506632194
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"observed_center_px": [
|
|
1323.0,
|
|
208.5
|
|
],
|
|
"projected_center_px": [
|
|
1319.094970703125,
|
|
207.36993408203125
|
|
],
|
|
"reprojection_error_px": 4.0652555624962385,
|
|
"confidence": 0.562745572281817
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"observed_center_px": [
|
|
1125.5,
|
|
230.25
|
|
],
|
|
"projected_center_px": [
|
|
1128.239013671875,
|
|
233.71730041503906
|
|
],
|
|
"reprojection_error_px": 4.418638711509261,
|
|
"confidence": 0.5567076120516155
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"observed_center_px": [
|
|
1108.5,
|
|
182.0
|
|
],
|
|
"projected_center_px": [
|
|
1111.14013671875,
|
|
182.54635620117188
|
|
],
|
|
"reprojection_error_px": 2.696076221521005,
|
|
"confidence": 0.5155640078275618
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"observed_center_px": [
|
|
1280.25,
|
|
135.0
|
|
],
|
|
"projected_center_px": [
|
|
1281.889892578125,
|
|
133.5420684814453
|
|
],
|
|
"reprojection_error_px": 2.194267982855475,
|
|
"confidence": 0.5393477003090094
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |