73 lines
2.4 KiB
JSON
73 lines
2.4 KiB
JSON
{
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"schema_version": "1.0",
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"created_utc": "2026-05-28T21:58:12.453984Z",
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"source_robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json",
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"source_detections": [
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"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2a_aruco_detection.json",
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"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2b_aruco_detection.json",
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"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2c_aruco_detection.json",
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"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2d_aruco_detection.json"
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],
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"solver": {
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"final_cost": 22931.22178571188,
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"status": 0,
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"message": "The maximum number of function evaluations is exceeded."
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},
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"robot_pose": {
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"state": {
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"x": 6.55912456537666,
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"y": 4.460952073670867,
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"z": 30.7175200969605,
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"a": 11.566185446462232,
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"b": 1.999999999999993,
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"c": 8.999999999999904,
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"e": 0.9999999999999776
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},
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"uncertainty": {
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"x_mm": 3481.5587672468964,
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"y_mm": 1721.1687436205234,
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"z_mm": 230.0328185419544,
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"a_deg": 559.8212894814748,
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"b_deg": 10506.72751291286,
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"c_deg": 10506.727245747321,
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"e_mm": 105067.37089893252
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},
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"confidence": {
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"x": 6.278037366676565e-152,
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"y": 1.7807019001431863e-75,
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"z": 1.0228256841704706e-10,
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"a": 4.8671004844006695e-25,
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"b": 0.0,
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"c": 0.0,
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"e": 0.36787944117144233
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}
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},
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"statistics": {
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"observation_count": 40,
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"camera_count": 4,
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"marker_count": 23,
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"observed_marker_count": 21,
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"mean_detector_confidence": 0.46546541612214093,
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"mean_weighted_confidence": 0.42464863675174713,
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"mean_reprojection_error_px": 189.61546736162268,
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"quality_means": {
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"size": 0.7059842696189881,
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"aspect": 0.8417551598015706,
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"border": 0.8583333333333334,
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"homography": 0.8064378287982054
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},
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"quality_config": {
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"size_ref_px": 50.0,
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"border_ref_px": 120.0,
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"center_ref_norm": 0.01,
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"sharpness_ref": 2500.0,
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"homography_ref": 0.18,
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"size_factor": 0.3,
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"aspect_factor": 0.3,
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"border_factor": 0.01,
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"center_factor": 0.01,
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"sharpness_factor": 0.5,
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"homography_factor": 0.2
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}
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}
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} |