Files
appRobotRender/data/evaluations/Scene11/render_c_camera_pose.json
2026-06-02 22:47:31 +02:00

260 lines
6.0 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T16:36:40Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\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": [
[
1768.8695068359375,
0.0,
639.249267578125
],
[
0.0,
1774.5469970703125,
357.7935485839844
],
[
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": 4,
"used_marker_ids": [
208,
215,
210,
214
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.004445361467525621,
0.000971928119334766,
0.0009076588822393736,
0.0009070706254589827,
0.0009070691451936939
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 2.2729574185417096,
"residual_median_px": 2.122108673582905,
"residual_max_px": 3.2380887314844045,
"sigma2_normalized": 3.2910977297534073e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9955496788024902,
0.09375829994678497,
0.009495655074715614
],
[
0.03583904355764389,
-0.2834930121898651,
-0.9583044052124023
],
[
-0.08715703338384628,
0.9543799757957458,
-0.28559160232543945
]
],
"translation_m": [
-0.19718357920646667,
0.10842373967170715,
1.0060997009277344
],
"rvec_rad": [
1.85842513239781,
0.09391083927173967,
-0.0562761955130529
]
},
"camera_in_world": {
"position_m": [
0.28010889887809753,
-0.9109764099121094,
0.39310896396636963
],
"position_mm": [
280.10888671875,
-910.9764404296875,
393.1089782714844
],
"orientation_deg": {
"roll": 106.65943908691406,
"pitch": 5.000073432922363,
"yaw": 2.0617146492004395
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0007046645894154053,
-0.0001037434885750783,
-1.247372836298898e-05,
-2.1636834474546033e-06,
-1.854546439038505e-05,
1.5662328941807058e-05
],
[
-0.00010374348857507716,
0.0001806049243564289,
-0.0002236315359759038,
1.125430737016334e-05,
-5.383534922967962e-06,
1.0000684918705509e-07
],
[
-1.2473728362985355e-05,
-0.00022363153597590316,
0.0005171324967263012,
-1.868512193447637e-05,
-9.682473182527029e-06,
-2.437918862131529e-06
],
[
-2.1636834474546453e-06,
1.125430737016338e-05,
-1.86851219344765e-05,
1.621420187040199e-06,
1.9714005982156574e-07,
2.1345959383195103e-06
],
[
-1.854546439038598e-05,
-5.383534922967884e-06,
-9.682473182526732e-06,
1.9714005982156085e-07,
4.523828466276443e-06,
4.941820942115331e-06
],
[
1.5662328941805465e-05,
1.0000684918733102e-07,
-2.43791886213173e-06,
2.1345959383195255e-06,
4.941820942115394e-06,
3.928502938564167e-05
]
],
"parameter_std": {
"rvec_std_deg": [
1.5209462149469029,
0.7699941509652365,
1.3029373906871078
],
"tvec_std_m": [
0.0012733499860761765,
0.002126929351500995,
0.0062677770689169915
]
},
"camera_center_std_m": [
0.020288921840502423,
0.0129795164509049,
0.023720309927028827
],
"camera_center_std_mm": [
20.28892184050242,
12.9795164509049,
23.720309927028826
],
"orientation_std_deg": {
"roll": 1.6202099118999542,
"pitch": 1.2092881300697753,
"yaw": 0.4426473522563109
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
926.75,
650.0
],
"projected_center_px": [
923.5247192382812,
649.7122802734375
],
"reprojection_error_px": 3.2380887314844045,
"confidence": 0.2845709023049064
},
{
"marker_id": 215,
"observed_center_px": [
722.0,
639.5
],
"projected_center_px": [
724.4938354492188,
639.6566162109375
],
"reprojection_error_px": 2.498748463793125,
"confidence": 0.24539008992288097
},
{
"marker_id": 210,
"observed_center_px": [
318.25,
564.25
],
"projected_center_px": [
317.3068542480469,
564.263916015625
],
"reprojection_error_px": 0.9432484110339655,
"confidence": 0.1993783538024228
},
{
"marker_id": 214,
"observed_center_px": [
913.0,
584.75
],
"projected_center_px": [
914.7406616210938,
584.8794555664062
],
"reprojection_error_px": 1.7454688833726841,
"confidence": 0.19871793687038514
}
]
},
"qa": {
"sanity_notes": []
}
}