Files
appRobotRender/data/evaluations/Scene4/render_a_camera_pose.json
2026-05-31 10:22:19 +02:00

470 lines
11 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:08:17Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "a",
"camera_matrix": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1500.0,
360.0
],
[
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": 19,
"used_marker_ids": [
47,
210,
85,
79,
96,
215,
105,
208,
211,
75,
102,
214,
92,
217,
61,
83,
206,
207,
93
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.01473918226411027,
0.002889152300309621,
0.002626417702410741,
0.0026263966147696115,
0.0026263965962117653
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 5.909619315053016,
"residual_median_px": 6.184463094061703,
"residual_max_px": 9.16749074252146,
"sigma2_normalized": 8.191326408063025e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8035048842430115,
-0.5952394008636475,
0.008362939581274986
],
[
-0.4038265347480774,
-0.55533367395401,
-0.7269997596740723
],
[
0.43738311529159546,
0.5807706713676453,
-0.6865867972373962
]
],
"translation_m": [
-0.22716271877288818,
0.20623339712619781,
1.1431963443756104
],
"rvec_rad": [
2.2337074802470176,
-0.7327781306177164,
0.3269383452040311
]
},
"camera_in_world": {
"position_m": [
-0.23420590162277222,
-0.6846227645874023,
0.9367349147796631
],
"position_mm": [
-234.20590209960938,
-684.6227416992188,
936.7349243164062
],
"orientation_deg": {
"roll": 139.7727508544922,
"pitch": -25.937030792236328,
"yaw": -26.683246612548828
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
7.130135743921393e-05,
-1.9497809297890266e-05,
5.553485747098799e-06,
3.3388380189243494e-06,
7.482732472444817e-06,
1.4427759390289596e-05
],
[
-1.9497809297890052e-05,
2.116308915161797e-05,
-1.149359512766053e-05,
-4.187110137413571e-06,
-5.036049502883864e-06,
-7.906497529834733e-07
],
[
5.553485747098538e-06,
-1.1493595127660526e-05,
6.716730190368363e-05,
8.54976128124681e-06,
-5.258794621149629e-06,
-1.822790613298817e-05
],
[
3.3388380189242876e-06,
-4.1871101374135705e-06,
8.549761281246818e-06,
2.285756121918658e-06,
2.7738521897052595e-07,
-5.715779736361504e-07
],
[
7.482732472444785e-06,
-5.036049502883867e-06,
-5.258794621149614e-06,
2.7738521897052976e-07,
3.157261084089943e-06,
4.38465083138282e-06
],
[
1.4427759390289604e-05,
-7.906497529834605e-07,
-1.822790613298818e-05,
-5.715779736361446e-07,
4.3846508313828205e-06,
2.2793312906006603e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.4838063134828943,
0.26357982368306593,
0.4695713419732603
],
"tvec_std_m": [
0.001511871727997669,
0.0017768683361718007,
0.004774234274311076
]
},
"camera_center_std_m": [
0.007410349739387958,
0.008933782062754672,
0.008788984882244421
],
"camera_center_std_mm": [
7.410349739387958,
8.933782062754673,
8.78898488224442
],
"orientation_std_deg": {
"roll": 0.5983000230901394,
"pitch": 0.3541967561814082,
"yaw": 0.23800820264630432
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"observed_center_px": [
984.25,
690.75
],
"projected_center_px": [
980.8847045898438,
682.2225341796875
],
"reprojection_error_px": 9.16749074252146,
"confidence": 0.12146268776527554
},
{
"marker_id": 210,
"observed_center_px": [
324.0,
632.0
],
"projected_center_px": [
329.41302490234375,
635.0302124023438
],
"reprojection_error_px": 6.203468851917566,
"confidence": 0.46829700346999537
},
{
"marker_id": 85,
"observed_center_px": [
1183.75,
610.25
],
"projected_center_px": [
1179.1107177734375,
604.7940673828125
],
"reprojection_error_px": 7.161713503135206,
"confidence": 0.4560525484643318
},
{
"marker_id": 79,
"observed_center_px": [
814.0,
599.0
],
"projected_center_px": [
814.2981567382812,
594.2095947265625
],
"reprojection_error_px": 4.799675001951728,
"confidence": 0.5734281513866332
},
{
"marker_id": 96,
"observed_center_px": [
905.25,
587.25
],
"projected_center_px": [
904.3594360351562,
582.5528564453125
],
"reprojection_error_px": 4.78082228793547,
"confidence": 0.525542829627259
},
{
"marker_id": 215,
"observed_center_px": [
678.75,
548.75
],
"projected_center_px": [
680.4237670898438,
553.78759765625
],
"reprojection_error_px": 5.3083788878808855,
"confidence": 0.456911083882938
},
{
"marker_id": 105,
"observed_center_px": [
1150.25,
560.25
],
"projected_center_px": [
1147.0924072265625,
556.4566650390625
],
"reprojection_error_px": 4.935563012335617,
"confidence": 0.43622925667631085
},
{
"marker_id": 208,
"observed_center_px": [
793.0,
492.75
],
"projected_center_px": [
793.8477172851562,
498.2724914550781
],
"reprojection_error_px": 5.587176072665295,
"confidence": 0.4417935296159658
},
{
"marker_id": 211,
"observed_center_px": [
610.0,
487.75
],
"projected_center_px": [
611.00341796875,
493.10406494140625
],
"reprojection_error_px": 5.447279964973885,
"confidence": 0.3826078272694969
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
514.75
],
"projected_center_px": [
128.1188201904297,
512.4112548828125
],
"reprojection_error_px": 2.3696047709254033,
"confidence": 0.29844141482805986
},
{
"marker_id": 102,
"observed_center_px": [
1217.75,
461.5
],
"projected_center_px": [
1217.081298828125,
459.75506591796875
],
"reprojection_error_px": 1.8686776629213608,
"confidence": 0.2521714913889437
},
{
"marker_id": 214,
"observed_center_px": [
722.0,
435.5
],
"projected_center_px": [
722.6962890625,
441.6451416015625
],
"reprojection_error_px": 6.184463094061703,
"confidence": 0.38467027802270787
},
{
"marker_id": 92,
"observed_center_px": [
1173.25,
437.75
],
"projected_center_px": [
1173.2581787109375,
436.55615234375
],
"reprojection_error_px": 1.193875670933208,
"confidence": 0.31777455864589965
},
{
"marker_id": 217,
"observed_center_px": [
1087.75,
347.0
],
"projected_center_px": [
1090.8243408203125,
352.91796875
],
"reprojection_error_px": 6.668877387193162,
"confidence": 0.3029173397022545
},
{
"marker_id": 61,
"observed_center_px": [
58.5,
415.5
],
"projected_center_px": [
52.360286712646484,
414.1540222167969
],
"reprojection_error_px": 6.285517913726896,
"confidence": 0.1527342148240039
},
{
"marker_id": 83,
"observed_center_px": [
139.0,
383.0
],
"projected_center_px": [
132.0175018310547,
381.62200927734375
],
"reprojection_error_px": 7.117172128805888,
"confidence": 0.19743498130596515
},
{
"marker_id": 206,
"observed_center_px": [
1013.0,
301.0
],
"projected_center_px": [
1016.5340576171875,
306.2687683105469
],
"reprojection_error_px": 6.3442480052267785,
"confidence": 0.2849187633475991
},
{
"marker_id": 207,
"observed_center_px": [
1098.0,
262.0
],
"projected_center_px": [
1102.7847900390625,
266.5314636230469
],
"reprojection_error_px": 6.590021114147422,
"confidence": 0.24627951083020566
},
{
"marker_id": 93,
"observed_center_px": [
1104.25,
154.5
],
"projected_center_px": [
1111.04638671875,
150.36155700683594
],
"reprojection_error_px": 7.957234622560159,
"confidence": 0.15396639291733288
}
]
},
"qa": {
"sanity_notes": []
}
}