579 lines
13 KiB
JSON
579 lines
13 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:34:55Z",
|
|
"source": {
|
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\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": [
|
|
[
|
|
1992.8416748046875,
|
|
0.0,
|
|
719.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
1997.40380859375,
|
|
537.7935791015625
|
|
],
|
|
[
|
|
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": 27,
|
|
"used_marker_ids": [
|
|
86,
|
|
64,
|
|
215,
|
|
72,
|
|
69,
|
|
53,
|
|
208,
|
|
103,
|
|
56,
|
|
46,
|
|
68,
|
|
95,
|
|
55,
|
|
66,
|
|
217,
|
|
54,
|
|
97,
|
|
205,
|
|
85,
|
|
102,
|
|
59,
|
|
57,
|
|
48,
|
|
63,
|
|
71,
|
|
87,
|
|
80
|
|
],
|
|
"history": {
|
|
"iters": [
|
|
0,
|
|
1,
|
|
2,
|
|
3
|
|
],
|
|
"rms": [
|
|
0.011809795650202907,
|
|
0.0015381978823881285,
|
|
0.0011372914857893037,
|
|
0.0011372708254218788
|
|
],
|
|
"lambda": [
|
|
0.001,
|
|
0.0005,
|
|
0.00025,
|
|
0.000125
|
|
]
|
|
},
|
|
"residual_rms_px": 3.2184776990347777,
|
|
"residual_median_px": 2.632991916602003,
|
|
"residual_max_px": 5.71603576486116,
|
|
"sigma2_normalized": 1.4550580465834561e-06
|
|
},
|
|
"camera_pose": {
|
|
"world_to_camera": {
|
|
"rotation_matrix": [
|
|
[
|
|
-0.7073104381561279,
|
|
-0.7069030404090881,
|
|
-0.00023291123216040432
|
|
],
|
|
[
|
|
-0.6395619511604309,
|
|
0.6400707960128784,
|
|
-0.42575803399086
|
|
],
|
|
[
|
|
0.30111873149871826,
|
|
-0.3009941279888153,
|
|
-0.9048370122909546
|
|
]
|
|
],
|
|
"translation_m": [
|
|
0.00030493814847432077,
|
|
0.33216360211372375,
|
|
1.3832570314407349
|
|
],
|
|
"rvec_rad": [
|
|
1.1142443349575022,
|
|
-2.691318159809503,
|
|
0.6014114785077794
|
|
]
|
|
},
|
|
"camera_in_world": {
|
|
"position_m": [
|
|
-0.20386971533298492,
|
|
0.20395958423614502,
|
|
1.3930436372756958
|
|
],
|
|
"position_mm": [
|
|
-203.86972045898438,
|
|
203.95957946777344,
|
|
1393.0435791015625
|
|
],
|
|
"orientation_deg": {
|
|
"roll": -161.60028076171875,
|
|
"pitch": -17.52480697631836,
|
|
"yaw": -137.87957763671875
|
|
}
|
|
},
|
|
"uncertainty": {
|
|
"pose_covariance_6x6": [
|
|
[
|
|
5.77072292908452e-06,
|
|
-6.8024275405300154e-06,
|
|
3.762196000770587e-06,
|
|
2.9203261372497714e-07,
|
|
1.3328224238752723e-06,
|
|
4.6619648621436485e-06
|
|
],
|
|
[
|
|
-6.802427540529927e-06,
|
|
1.9848127233570163e-05,
|
|
-1.3060295778648736e-05,
|
|
-3.1740634709341643e-06,
|
|
-1.7560781049237373e-06,
|
|
-1.1039055716095822e-05
|
|
],
|
|
[
|
|
3.762196000770255e-06,
|
|
-1.3060295778648727e-05,
|
|
5.216817242740454e-05,
|
|
5.442964139520901e-06,
|
|
-3.077436051612119e-06,
|
|
-5.948195504019374e-07
|
|
],
|
|
[
|
|
2.9203261372494226e-07,
|
|
-3.1740634709341597e-06,
|
|
5.442964139520844e-06,
|
|
1.1294141463033591e-06,
|
|
-1.8289002058216644e-07,
|
|
5.125311579120518e-07
|
|
],
|
|
[
|
|
1.332822423875292e-06,
|
|
-1.756078104923746e-06,
|
|
-3.0774360516120584e-06,
|
|
-1.8289002058216544e-07,
|
|
8.294776520583772e-07,
|
|
1.848491927035224e-06
|
|
],
|
|
[
|
|
4.661964862143648e-06,
|
|
-1.1039055716095829e-05,
|
|
-5.948195504019251e-07,
|
|
5.125311579120462e-07,
|
|
1.8484919270352313e-06,
|
|
1.1157322397507073e-05
|
|
]
|
|
],
|
|
"parameter_std": {
|
|
"rvec_std_deg": [
|
|
0.1376378068546467,
|
|
0.2552597855483804,
|
|
0.41383330909098076
|
|
],
|
|
"tvec_std_m": [
|
|
0.00106273898314843,
|
|
0.000910756637120135,
|
|
0.0033402578339863337
|
|
]
|
|
},
|
|
"camera_center_std_m": [
|
|
0.006147122903678987,
|
|
0.008847527945372217,
|
|
0.004050120966066072
|
|
],
|
|
"camera_center_std_mm": [
|
|
6.147122903678987,
|
|
8.847527945372217,
|
|
4.050120966066071
|
|
],
|
|
"orientation_std_deg": {
|
|
"roll": 0.25567557018026077,
|
|
"pitch": 0.24978859979240586,
|
|
"yaw": 0.13777892535287223
|
|
}
|
|
}
|
|
},
|
|
"observations": {
|
|
"markers": [
|
|
{
|
|
"marker_id": 86,
|
|
"observed_center_px": [
|
|
71.0,
|
|
959.0
|
|
],
|
|
"projected_center_px": [
|
|
72.23866271972656,
|
|
956.2183837890625
|
|
],
|
|
"reprojection_error_px": 3.0449423768259885,
|
|
"confidence": 0.5413217605153821
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"observed_center_px": [
|
|
921.25,
|
|
859.25
|
|
],
|
|
"projected_center_px": [
|
|
922.2263793945312,
|
|
862.5381469726562
|
|
],
|
|
"reprojection_error_px": 3.4300477016877875,
|
|
"confidence": 0.6006666450754657
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"observed_center_px": [
|
|
566.5,
|
|
693.0
|
|
],
|
|
"projected_center_px": [
|
|
567.738525390625,
|
|
691.853759765625
|
|
],
|
|
"reprojection_error_px": 1.6875460936291085,
|
|
"confidence": 0.27912346809991995
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"observed_center_px": [
|
|
115.75,
|
|
787.5
|
|
],
|
|
"projected_center_px": [
|
|
114.39695739746094,
|
|
789.1145629882812
|
|
],
|
|
"reprojection_error_px": 2.1065464455865577,
|
|
"confidence": 0.4975235789090466
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"observed_center_px": [
|
|
976.75,
|
|
755.0
|
|
],
|
|
"projected_center_px": [
|
|
977.63623046875,
|
|
750.2596435546875
|
|
],
|
|
"reprojection_error_px": 4.822487291051849,
|
|
"confidence": 0.5873934926369923
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"observed_center_px": [
|
|
54.0,
|
|
764.5
|
|
],
|
|
"projected_center_px": [
|
|
57.702701568603516,
|
|
764.318115234375
|
|
],
|
|
"reprojection_error_px": 3.7071661648900225,
|
|
"confidence": 0.32594286952973284
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"observed_center_px": [
|
|
475.0,
|
|
604.0
|
|
],
|
|
"projected_center_px": [
|
|
477.6964416503906,
|
|
604.4832153320312
|
|
],
|
|
"reprojection_error_px": 2.7393967640835433,
|
|
"confidence": 0.5327104283346404
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"observed_center_px": [
|
|
801.25,
|
|
744.5
|
|
],
|
|
"projected_center_px": [
|
|
796.8280029296875,
|
|
746.1312866210938
|
|
],
|
|
"reprojection_error_px": 4.7132954638990965,
|
|
"confidence": 0.563591026057747
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"observed_center_px": [
|
|
97.5,
|
|
710.0
|
|
],
|
|
"projected_center_px": [
|
|
94.45005798339844,
|
|
714.1343994140625
|
|
],
|
|
"reprojection_error_px": 5.137645844122768,
|
|
"confidence": 0.4818529628257627
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"observed_center_px": [
|
|
51.5,
|
|
695.0
|
|
],
|
|
"projected_center_px": [
|
|
45.80267333984375,
|
|
695.4620971679688
|
|
],
|
|
"reprojection_error_px": 5.71603576486116,
|
|
"confidence": 0.2891117776954576
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"observed_center_px": [
|
|
28.5,
|
|
652.25
|
|
],
|
|
"projected_center_px": [
|
|
32.11998748779297,
|
|
650.4644775390625
|
|
],
|
|
"reprojection_error_px": 4.036384504762889,
|
|
"confidence": 0.06050732558304829
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"observed_center_px": [
|
|
802.25,
|
|
598.75
|
|
],
|
|
"projected_center_px": [
|
|
799.7471923828125,
|
|
601.5735473632812
|
|
],
|
|
"reprojection_error_px": 3.773124127476364,
|
|
"confidence": 0.49234670131998853
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"observed_center_px": [
|
|
699.25,
|
|
531.25
|
|
],
|
|
"projected_center_px": [
|
|
700.5578002929688,
|
|
530.5028076171875
|
|
],
|
|
"reprojection_error_px": 1.5061998749243641,
|
|
"confidence": 0.4819075387512569
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"observed_center_px": [
|
|
857.75,
|
|
509.0
|
|
],
|
|
"projected_center_px": [
|
|
856.3532104492188,
|
|
508.90704345703125
|
|
],
|
|
"reprojection_error_px": 1.3998792690987274,
|
|
"confidence": 0.4767814174867246
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"observed_center_px": [
|
|
229.5,
|
|
365.5
|
|
],
|
|
"projected_center_px": [
|
|
227.3695068359375,
|
|
361.82037353515625
|
|
],
|
|
"reprojection_error_px": 4.251899815717152,
|
|
"confidence": 0.4046375469124394
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"observed_center_px": [
|
|
709.0,
|
|
434.75
|
|
],
|
|
"projected_center_px": [
|
|
709.2446899414062,
|
|
430.2393493652344
|
|
],
|
|
"reprojection_error_px": 4.51728262524462,
|
|
"confidence": 0.4533459037962846
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"observed_center_px": [
|
|
766.0,
|
|
436.5
|
|
],
|
|
"projected_center_px": [
|
|
767.9536743164062,
|
|
437.0660705566406
|
|
],
|
|
"reprojection_error_px": 2.03403028730667,
|
|
"confidence": 0.45270011191053483
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"observed_center_px": [
|
|
148.0,
|
|
285.0
|
|
],
|
|
"projected_center_px": [
|
|
149.84815979003906,
|
|
286.736083984375
|
|
],
|
|
"reprojection_error_px": 2.535681803839079,
|
|
"confidence": 0.38107014005487916
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"observed_center_px": [
|
|
556.0,
|
|
319.5
|
|
],
|
|
"projected_center_px": [
|
|
555.9347534179688,
|
|
321.4274597167969
|
|
],
|
|
"reprojection_error_px": 1.9285637340625925,
|
|
"confidence": 0.40168081794344246
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"observed_center_px": [
|
|
358.75,
|
|
279.5
|
|
],
|
|
"projected_center_px": [
|
|
359.1756896972656,
|
|
281.1457214355469
|
|
],
|
|
"reprojection_error_px": 1.6998855143145866,
|
|
"confidence": 0.3601528591663245
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"observed_center_px": [
|
|
425.25,
|
|
258.75
|
|
],
|
|
"projected_center_px": [
|
|
427.7971496582031,
|
|
258.0831604003906
|
|
],
|
|
"reprojection_error_px": 2.632991916602003,
|
|
"confidence": 0.37050091541573504
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"observed_center_px": [
|
|
521.0,
|
|
213.25
|
|
],
|
|
"projected_center_px": [
|
|
521.18212890625,
|
|
214.51669311523438
|
|
],
|
|
"reprojection_error_px": 1.2797196515932647,
|
|
"confidence": 0.3370835485575886
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"observed_center_px": [
|
|
415.5,
|
|
188.0
|
|
],
|
|
"projected_center_px": [
|
|
416.15313720703125,
|
|
185.10035705566406
|
|
],
|
|
"reprojection_error_px": 2.9722916101630688,
|
|
"confidence": 0.3144395433415756
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"observed_center_px": [
|
|
275.5,
|
|
183.5
|
|
],
|
|
"projected_center_px": [
|
|
273.4644775390625,
|
|
182.13827514648438
|
|
],
|
|
"reprojection_error_px": 2.44900924164512,
|
|
"confidence": 0.3375471143770103
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"observed_center_px": [
|
|
337.0,
|
|
166.0
|
|
],
|
|
"projected_center_px": [
|
|
337.100341796875,
|
|
168.4000701904297
|
|
],
|
|
"reprojection_error_px": 2.4021668125234976,
|
|
"confidence": 0.2978544416404484
|
|
},
|
|
{
|
|
"marker_id": 87,
|
|
"observed_center_px": [
|
|
161.25,
|
|
66.25
|
|
],
|
|
"projected_center_px": [
|
|
161.10646057128906,
|
|
64.96504211425781
|
|
],
|
|
"reprojection_error_px": 1.2929502448763042,
|
|
"confidence": 0.2829114710668055
|
|
},
|
|
{
|
|
"marker_id": 80,
|
|
"observed_center_px": [
|
|
299.0,
|
|
56.75
|
|
],
|
|
"projected_center_px": [
|
|
298.2074890136719,
|
|
58.66891860961914
|
|
],
|
|
"reprojection_error_px": 2.0761315694804683,
|
|
"confidence": 0.2485923429199218
|
|
}
|
|
]
|
|
},
|
|
"qa": {
|
|
"sanity_notes": []
|
|
}
|
|
} |