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

411 lines
9.4 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:08:18Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "d",
"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": 15,
"used_marker_ids": [
95,
79,
208,
69,
51,
103,
58,
215,
214,
64,
211,
72,
84,
86,
73
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.007841850707986807,
0.0017810362643680003,
0.0017658251375722333,
0.0017658250893408992
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.770822452245494,
"residual_median_px": 2.791685612075873,
"residual_max_px": 6.203082572758287,
"sigma2_normalized": 3.897672807680698e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8218587040901184,
0.5696675777435303,
-0.005202787928283215
],
[
0.22700649499893188,
-0.33585092425346375,
-0.9141510725021362
],
[
-0.5225096344947815,
0.7501219511032104,
-0.4053402543067932
]
],
"translation_m": [
-0.11614544689655304,
0.010630420409142971,
1.1226513385772705
],
"rvec_rad": [
1.9193529437820334,
0.5965934328062594,
-0.395180108840082
]
},
"camera_in_world": {
"position_m": [
0.6796380877494812,
-0.7723909020423889,
0.46416929364204407
],
"position_mm": [
679.6380615234375,
-772.3909301757812,
464.1692810058594
],
"orientation_deg": {
"roll": 118.38526153564453,
"pitch": 31.500741958618164,
"yaw": 15.440743446350098
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.751145436049188e-05,
1.3401513105335499e-05,
1.4312381001913197e-05,
9.36895982720579e-08,
-5.6106559832537664e-06,
5.280148089620792e-08
],
[
1.3401513105335502e-05,
1.795030033962097e-05,
2.5613386096834456e-06,
1.6499095292815893e-06,
-3.5811468864126333e-06,
3.546830461776452e-06
],
[
1.431238100191327e-05,
2.5613386096835036e-06,
3.5498124463694455e-05,
-1.87005267791892e-06,
-5.419343738566485e-06,
-9.14992749873344e-06
],
[
9.368959827205494e-08,
1.6499095292815834e-06,
-1.870052677918922e-06,
5.315003696200177e-07,
1.0602224587116693e-08,
9.616573221245425e-07
],
[
-5.610655983253775e-06,
-3.5811468864126405e-06,
-5.41934373856647e-06,
1.0602224587114902e-08,
1.8275286429825955e-06,
1.2287899005592294e-06
],
[
5.280148089619168e-08,
3.546830461776437e-06,
-9.14992749873345e-06,
9.616573221245397e-07,
1.2287899005592346e-06,
9.156468527647838e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.30052417052989433,
0.242749582779303,
0.34136998755444714
],
"tvec_std_m": [
0.0007290407187668037,
0.0013518611774078712,
0.003025965718187805
]
},
"camera_center_std_m": [
0.004718941135480535,
0.0029222981526787076,
0.005827855101734415
],
"camera_center_std_mm": [
4.718941135480534,
2.9222981526787075,
5.827855101734415
],
"orientation_std_deg": {
"roll": 0.4257217334695992,
"pitch": 0.2695484665227,
"yaw": 0.29806926575912746
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
383.5,
671.25
],
"projected_center_px": [
384.897216796875,
666.64501953125
],
"reprojection_error_px": 4.812282191958261,
"confidence": 0.5518116657099041
},
{
"marker_id": 79,
"observed_center_px": [
744.0,
648.0
],
"projected_center_px": [
744.4780883789062,
641.8153686523438
],
"reprojection_error_px": 6.203082572758287,
"confidence": 0.589171450268867
},
{
"marker_id": 208,
"observed_center_px": [
884.75,
562.25
],
"projected_center_px": [
885.0848388671875,
566.4490356445312
],
"reprojection_error_px": 4.212364824065382,
"confidence": 0.4569666605043164
},
{
"marker_id": 69,
"observed_center_px": [
118.25,
575.0
],
"projected_center_px": [
117.68472290039062,
575.1051025390625
],
"reprojection_error_px": 0.574964992899717,
"confidence": 0.5412868278516675
},
{
"marker_id": 51,
"observed_center_px": [
492.25,
577.5
],
"projected_center_px": [
492.4128112792969,
575.0668334960938
],
"reprojection_error_px": 2.438607542922323,
"confidence": 0.5367694875460974
},
{
"marker_id": 103,
"observed_center_px": [
382.75,
557.25
],
"projected_center_px": [
382.0443115234375,
556.164794921875
],
"reprojection_error_px": 1.2944752942954878,
"confidence": 0.5683985238307451
},
{
"marker_id": 58,
"observed_center_px": [
265.5,
551.5
],
"projected_center_px": [
265.0464782714844,
551.0245971679688
],
"reprojection_error_px": 0.6570310578192885,
"confidence": 0.5703994452422884
},
{
"marker_id": 215,
"observed_center_px": [
713.0,
512.0
],
"projected_center_px": [
713.172607421875,
517.9434814453125
],
"reprojection_error_px": 5.945987303456029,
"confidence": 0.408432388349621
},
{
"marker_id": 214,
"observed_center_px": [
956.25,
505.25
],
"projected_center_px": [
956.2235107421875,
509.92266845703125
],
"reprojection_error_px": 4.672743539946769,
"confidence": 0.32753550791646946
},
{
"marker_id": 64,
"observed_center_px": [
216.0,
499.0
],
"projected_center_px": [
213.61605834960938,
500.45269775390625
],
"reprojection_error_px": 2.791685612075873,
"confidence": 0.4466430195499723
},
{
"marker_id": 211,
"observed_center_px": [
791.0,
461.25
],
"projected_center_px": [
791.0151977539062,
467.3743896484375
],
"reprojection_error_px": 6.1244085051221235,
"confidence": 0.29690586628373444
},
{
"marker_id": 72,
"observed_center_px": [
1244.75,
464.25
],
"projected_center_px": [
1245.1998291015625,
460.7070617675781
],
"reprojection_error_px": 3.571380340900303,
"confidence": 0.03479010216782576
},
{
"marker_id": 84,
"observed_center_px": [
1223.25,
418.25
],
"projected_center_px": [
1223.9171142578125,
415.5768737792969
],
"reprojection_error_px": 2.7551125611828087,
"confidence": 0.09228958358804855
},
{
"marker_id": 86,
"observed_center_px": [
1172.75,
387.25
],
"projected_center_px": [
1172.7916259765625,
385.6545104980469
],
"reprojection_error_px": 1.5960324159513217,
"confidence": 0.12403848180952393
},
{
"marker_id": 73,
"observed_center_px": [
998.75,
329.0
],
"projected_center_px": [
998.980712890625,
329.2904052734375
],
"reprojection_error_px": 0.3708957545468165,
"confidence": 0.09713673917158988
}
]
},
"qa": {
"sanity_notes": []
}
}