537 lines
12 KiB
JSON
537 lines
12 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T16:36:42Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_g_aruco_detection.json",
|
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
|
},
|
|
"camera": {
|
|
"camera_id": "g",
|
|
"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": 24,
|
|
"used_marker_ids": [
|
|
64,
|
|
53,
|
|
72,
|
|
208,
|
|
103,
|
|
58,
|
|
69,
|
|
46,
|
|
56,
|
|
68,
|
|
55,
|
|
96,
|
|
66,
|
|
217,
|
|
205,
|
|
62,
|
|
54,
|
|
85,
|
|
102,
|
|
59,
|
|
57,
|
|
71,
|
|
63,
|
|
48
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.00866950060559843,
|
|
0.0013842754621219114,
|
|
0.0012203794265737344,
|
|
0.0012203709539035875
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.065929607594077,
|
|
"residual_median_px": 3.0551596957184843,
|
|
"residual_max_px": 5.000466689876246,
|
|
"sigma2_normalized": 1.702063159634686e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7083271741867065,
|
|
-0.7058330774307251,
|
|
0.008502377197146416
|
|
],
|
|
[
|
|
-0.6410619020462036,
|
|
0.6381916999816895,
|
|
-0.4263226091861725
|
|
],
|
|
[
|
|
0.2954864501953125,
|
|
-0.30742645263671875,
|
|
-0.9045312404632568
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.0010775488335639238,
|
|
0.33292052149772644,
|
|
1.3844431638717651
|
|
],
|
|
"rvec_rad": [
|
|
1.117421476670027,
|
|
-2.69716143986047,
|
|
0.608738584614077
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.19489829242229462,
|
|
0.2139078974723816,
|
|
1.394194483757019
|
|
],
|
|
"position_mm": [
|
|
-194.89828491210938,
|
|
213.90789794921875,
|
|
1394.1944580078125
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.2284393310547,
|
|
"pitch": -17.186708450317383,
|
|
"yaw": -137.853759765625
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
9.474278526993235e-06,
|
|
-1.452669335691888e-05,
|
|
5.981820299766559e-06,
|
|
1.1527085976535354e-06,
|
|
2.370647100369282e-06,
|
|
8.943994085335127e-06
|
|
],
|
|
[
|
|
-1.452669335691879e-05,
|
|
4.706367022727253e-05,
|
|
-2.382375953514336e-05,
|
|
-7.350996119723116e-06,
|
|
-4.401862763681062e-06,
|
|
-2.5223004635746047e-05
|
|
],
|
|
[
|
|
5.981820299766093e-06,
|
|
-2.3823759535143e-05,
|
|
8.108677467153536e-05,
|
|
8.59299512428251e-06,
|
|
-4.171094913430902e-06,
|
|
2.5602761147613706e-06
|
|
],
|
|
[
|
|
1.1527085976534905e-06,
|
|
-7.350996119723083e-06,
|
|
8.5929951242825e-06,
|
|
1.9604246029616e-06,
|
|
5.739611690903632e-08,
|
|
2.380585594864742e-06
|
|
],
|
|
[
|
|
2.370647100369316e-06,
|
|
-4.401862763681108e-06,
|
|
-4.171094913430771e-06,
|
|
5.73961169090479e-08,
|
|
1.338978268790878e-06,
|
|
3.450571188263582e-06
|
|
],
|
|
[
|
|
8.943994085335152e-06,
|
|
-2.522300463574613e-05,
|
|
2.560276114761656e-06,
|
|
2.3805855948647717e-06,
|
|
3.4505711882635765e-06,
|
|
2.0189942646612348e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.17635821985434447,
|
|
0.39306604467563583,
|
|
0.5159381540395009
|
|
],
|
|
"tvec_std_m": [
|
|
0.0014001516357029335,
|
|
0.0011571422854562347,
|
|
0.004493322005667115
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.009579713362550537,
|
|
0.011362950534888883,
|
|
0.005392302495320639
|
|
],
|
|
"camera_center_std_mm": [
|
|
9.579713362550537,
|
|
11.362950534888883,
|
|
5.3923024953206395
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.4627684579570787,
|
|
"pitch": 0.3895842186341458,
|
|
"yaw": 0.10255452088215973
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
819.0,
|
|
643.75
|
|
],
|
|
"projected_center_px": [
|
|
819.5347900390625,
|
|
647.2186279296875
|
|
],
|
|
"reprojection_error_px": 3.5096125285405315,
|
|
"confidence": 0.48136533624324795
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
48.25,
|
|
559.25
|
|
],
|
|
"projected_center_px": [
|
|
51.212650299072266,
|
|
559.0155029296875
|
|
],
|
|
"reprojection_error_px": 2.9719161614315652,
|
|
"confidence": 0.23153054349605823
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
102.5,
|
|
580.25
|
|
],
|
|
"projected_center_px": [
|
|
101.79776763916016,
|
|
581.15478515625
|
|
],
|
|
"reprojection_error_px": 1.1453237392026052,
|
|
"confidence": 0.38624485353870913
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
421.75,
|
|
416.5
|
|
],
|
|
"projected_center_px": [
|
|
425.1923828125,
|
|
417.52008056640625
|
|
],
|
|
"reprojection_error_px": 3.5903431298073873,
|
|
"confidence": 0.40542326455908895
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
712.0,
|
|
542.0
|
|
],
|
|
"projected_center_px": [
|
|
708.2936401367188,
|
|
543.810791015625
|
|
],
|
|
"reprojection_error_px": 4.1250536406706795,
|
|
"confidence": 0.4309876251267861
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"observed_center_px": [
|
|
782.5,
|
|
566.75
|
|
],
|
|
"projected_center_px": [
|
|
780.8565673828125,
|
|
564.0762939453125
|
|
],
|
|
"reprojection_error_px": 3.138403230005404,
|
|
"confidence": 0.4316478958478293
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
868.25,
|
|
551.0
|
|
],
|
|
"projected_center_px": [
|
|
868.4127807617188,
|
|
547.7119140625
|
|
],
|
|
"reprojection_error_px": 3.292112803166227,
|
|
"confidence": 0.43072753786094703
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
45.5,
|
|
497.5
|
|
],
|
|
"projected_center_px": [
|
|
40.50370788574219,
|
|
497.70428466796875
|
|
],
|
|
"reprojection_error_px": 5.000466689876246,
|
|
"confidence": 0.1881506025573149
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
86.5,
|
|
510.5
|
|
],
|
|
"projected_center_px": [
|
|
83.91114807128906,
|
|
514.3971557617188
|
|
],
|
|
"reprojection_error_px": 4.67867260447747,
|
|
"confidence": 0.36483353590081535
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
24.75,
|
|
459.5
|
|
],
|
|
"projected_center_px": [
|
|
28.236570358276367,
|
|
457.624267578125
|
|
],
|
|
"reprojection_error_px": 3.9591091146474415,
|
|
"confidence": 0.0435279743462167
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
621.0,
|
|
352.0
|
|
],
|
|
"projected_center_px": [
|
|
622.6322631835938,
|
|
352.2688903808594
|
|
],
|
|
"reprojection_error_px": 1.6542627171747248,
|
|
"confidence": 0.3588284331666357
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"observed_center_px": [
|
|
490.75,
|
|
345.0
|
|
],
|
|
"projected_center_px": [
|
|
493.921875,
|
|
344.83770751953125
|
|
],
|
|
"reprojection_error_px": 3.176024222962051,
|
|
"confidence": 0.33924563726302426
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
762.25,
|
|
332.0
|
|
],
|
|
"projected_center_px": [
|
|
760.6891479492188,
|
|
333.44635009765625
|
|
],
|
|
"reprojection_error_px": 2.1279538832921823,
|
|
"confidence": 0.36090001446666387
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
203.75,
|
|
204.5
|
|
],
|
|
"projected_center_px": [
|
|
202.1536407470703,
|
|
201.21456909179688
|
|
],
|
|
"reprojection_error_px": 3.6527276269920046,
|
|
"confidence": 0.29888533398470685
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
131.5,
|
|
133.0
|
|
],
|
|
"projected_center_px": [
|
|
132.98744201660156,
|
|
134.19346618652344
|
|
],
|
|
"reprojection_error_px": 1.9070514652537618,
|
|
"confidence": 0.3144395433415756
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"observed_center_px": [
|
|
458.5,
|
|
331.75
|
|
],
|
|
"projected_center_px": [
|
|
457.8880615234375,
|
|
327.9308166503906
|
|
],
|
|
"reprojection_error_px": 3.8678973819158022,
|
|
"confidence": 0.3405323974609375
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
630.75,
|
|
266.5
|
|
],
|
|
"projected_center_px": [
|
|
630.1928100585938,
|
|
263.29022216796875
|
|
],
|
|
"reprojection_error_px": 3.2577805883459265,
|
|
"confidence": 0.3590718541167963
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
493.0,
|
|
164.25
|
|
],
|
|
"projected_center_px": [
|
|
493.98468017578125,
|
|
166.25592041015625
|
|
],
|
|
"reprojection_error_px": 2.234571936738223,
|
|
"confidence": 0.29443270389118054
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
319.0,
|
|
128.0
|
|
],
|
|
"projected_center_px": [
|
|
319.05560302734375,
|
|
129.8679962158203
|
|
],
|
|
"reprojection_error_px": 1.8688235762020977,
|
|
"confidence": 0.27640167212794914
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
378.25,
|
|
109.75
|
|
],
|
|
"projected_center_px": [
|
|
380.0447692871094,
|
|
109.58613586425781
|
|
],
|
|
"reprojection_error_px": 1.802234238087166,
|
|
"confidence": 0.2660513635396405
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
462.5,
|
|
69.5
|
|
],
|
|
"projected_center_px": [
|
|
462.96771240234375,
|
|
71.18402862548828
|
|
],
|
|
"reprojection_error_px": 1.7477720969194215,
|
|
"confidence": 0.23824963089694168
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
299.25,
|
|
27.5
|
|
],
|
|
"projected_center_px": [
|
|
299.2592468261719,
|
|
29.568334579467773
|
|
],
|
|
"reprojection_error_px": 2.068355249084737,
|
|
"confidence": 0.06705319830932129
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
245.0,
|
|
43.0
|
|
],
|
|
"projected_center_px": [
|
|
242.64779663085938,
|
|
41.55967330932617
|
|
],
|
|
"reprojection_error_px": 2.758151856889669,
|
|
"confidence": 0.1426000599823447
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
369.25,
|
|
46.5
|
|
],
|
|
"projected_center_px": [
|
|
369.5900573730469,
|
|
44.68927764892578
|
|
],
|
|
"reprojection_error_px": 1.8423773906676362,
|
|
"confidence": 0.15796654930589954
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |