ChK/appRobotRender
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Claude: über nacht arbeiten. Pipeline verbessern

Browse Source
This commit is contained in:
chk
2026-06-02 06:04:41 +02:00
parent e5b41e9110
commit 30e97eb4bd
252 changed files with 125356 additions and 52694 deletions
Download Patch File Download Diff File Expand all files Collapse all files

599
data/evaluations/Scene10/render_a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:49:00Z",
"created_utc": "2026-06-01T23:08:38Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
"camera_id": "a",
"camera_matrix": [
[
1777.77783203125,
2000.0,
0.0,
640.0
720.0
],
[
0.0,
1500.0,
360.0
2000.0,
540.0
],
[
0.0,
@@ -36,459 +36,540 @@
"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": 21,
"num_used_markers": 27,
"used_marker_ids": [
97,
95,
103,
54,
55,
51,
47,
210,
85,
105,
79,
105,
215,
62,
211,
75,
102,
211,
214,
74,
102,
62,
92,
217,
61,
217,
52,
83,
206,
207,
72,
53,
93
91
],
"history": {
"iters": [
0,
1,
2,
3,
4
3
],
"rms": [
0.015110006050185669,
0.0026557650342981026,
0.002443632349837695,
0.00244362118971273,
0.002443621185724432
0.011825349981484379,
0.0007286671854522731,
0.0001184165487703213,
0.00011837472897932802
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
0.000125
]
},
"residual_rms_px": 5.510465401883154,
"residual_median_px": 5.736581908129957,
"residual_max_px": 8.981336810107909,
"sigma2_normalized": 6.966498582520107e-06
"residual_rms_px": 0.3348186069766395,
"residual_median_px": 0.2585648592258014,
"residual_max_px": 0.9657389550613406,
"sigma2_normalized": 1.5764148517222937e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8037766218185425,
-0.5948856472969055,
0.007361053489148617
0.8081001043319702,
-0.5890450477600098,
0.00041272895759902894
],
[
-0.404082715511322,
-0.5549716949462891,
-0.7271338105201721
-0.342855840921402,
-0.4709271490573883,
-0.8128206729888916
],
[
0.4366466701030731,
0.5814787149429321,
-0.6864562630653381
0.4789823889732361,
0.6566989421844482,
-0.5825138092041016
]
],
"translation_m": [
-0.22705602645874023,
0.20678724348545074,
1.144545078277588
-0.22882170975208282,
0.17063762247562408,
1.134727120399475
],
"rvec_rad": [
2.2333573335637587,
-0.7326448095785797,
0.32563588583689346
2.106147972088687,
-0.6858965711616758,
0.3528438012143829
]
},
"camera_in_world": {
"position_m": [
-0.23370030522346497,
-0.6858398914337158,
0.9377135038375854
-0.30009937286376953,
-0.7996025085449219,
0.7997864484786987
],
"position_mm": [
-233.70030212402344,
-685.8399047851562,
937.7135009765625
-300.099365234375,
-799.6025390625,
799.7864379882812
],
"orientation_deg": {
"roll": 139.73294067382812,
"pitch": -25.890119552612305,
"yaw": -26.690052032470703
"roll": 131.57408142089844,
"pitch": -28.618961334228516,
"yaw": -22.99024772644043
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.158497120916032e-05,
-1.5160642073784693e-05,
3.162879595256854e-06,
2.3482553084188575e-06,
6.616663503095248e-06,
1.0671228851912647e-05
5.5140446608935975e-08,
-1.781865109229229e-08,
-2.7796316854939317e-09,
2.3894321007816765e-09,
6.67453193829077e-09,
1.7617373280753476e-08
],
[
-1.5160642073784693e-05,
1.6859159907719806e-05,
-1.0399026085738819e-05,
-3.6468225017624044e-06,
-3.907346106021534e-06,
-3.4849728435411046e-07
-1.7818651092292115e-08,
2.7493786559545792e-08,
-3.3144457054921444e-09,
-3.239761106928005e-09,
-6.9847780132752435e-09,
-5.722458475219144e-09
],
[
3.1628795952570766e-06,
-1.0399026085738982e-05,
5.599655276282535e-05,
7.888313149662757e-06,
-3.8441885907238895e-06,
-1.4608238828423173e-05
-2.7796316854934358e-09,
-3.3144457054925675e-09,
7.558840513158445e-08,
6.881330387763146e-09,
-8.041586545207522e-09,
-1.3694906147146618e-08
],
[
2.348255308418892e-06,
-3.646822501762422e-06,
7.888313149662747e-06,
2.0239261921016147e-06,
1.6632955397344782e-07,
-1.075828626711534e-06
2.3894321007817084e-09,
-3.2397611069280487e-09,
6.881330387763092e-09,
1.9327541228504306e-09,
2.27770323080286e-10,
9.37805757926393e-10
],
[
6.616663503095219e-06,
-3.907346106021508e-06,
-3.844188590723947e-06,
1.6632955397343872e-07,
2.4652012086482443e-06,
3.313992802681061e-06
6.674531938290687e-09,
-6.9847780132752104e-09,
-8.041586545207661e-09,
2.2777032308026807e-10,
4.048715500339574e-09,
5.999259455795112e-09
],
[
1.0671228851912626e-05,
-3.484972843539891e-07,
-1.4608238828423285e-05,
-1.0758286267115634e-06,
3.313992802681041e-06,
1.6855036515592576e-05
1.7617373280753466e-08,
-5.722458475219189e-09,
-1.3694906147146823e-08,
9.3780575792638e-10,
5.999259455795137e-09,
2.88841911505348e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.41151363410050523,
0.23525593977820408,
0.4287491562540628
0.013454196678742977,
0.009500356682964301,
0.01575252666568845
],
"tvec_std_m": [
0.0014226475994080947,
0.0015700959233907476,
0.004105488584272592
4.3963099559180655e-05,
6.362951752402004e-05,
0.00016995349702355288
]
},
"camera_center_std_m": [
0.0070243218063548865,
0.00818814633142584,
0.007551258996656788
0.00024397940405123107,
0.0002382831660885521,
0.000307356806235044
],
"camera_center_std_mm": [
7.0243218063548865,
8.18814633142584,
7.551258996656788
0.24397940405123109,
0.23828316608855207,
0.307356806235044
],
"orientation_std_deg": {
"roll": 0.6450209361626998,
"pitch": 0.3128500289397423,
"yaw": 0.2269426653789591
"roll": 0.017689207178030054,
"pitch": 0.011123440538245074,
"yaw": 0.01070053716522624
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"marker_id": 97,
"observed_center_px": [
984.25,
690.75
1152.25,
1026.25
],
"projected_center_px": [
980.8162231445312,
682.4509887695312
1151.9398193359375,
1026.4263916015625
],
"reprojection_error_px": 8.981336810107909,
"confidence": 0.12146268776527554
"reprojection_error_px": 0.3568277476038505,
"confidence": 0.4777897565844527
},
{
"marker_id": 95,
"observed_center_px": [
876.5,
1027.25
],
"projected_center_px": [
876.5367431640625,
1027.1107177734375
],
"reprojection_error_px": 0.14404721011366853,
"confidence": 0.5416450286820796
},
{
"marker_id": 103,
"observed_center_px": [
659.0,
994.75
],
"projected_center_px": [
659.0737915039062,
994.5147094726562
],
"reprojection_error_px": 0.2465903856731768,
"confidence": 0.8649082431225718
},
{
"marker_id": 54,
"observed_center_px": [
1162.25,
961.0
],
"projected_center_px": [
1161.9022216796875,
961.2626342773438
],
"reprojection_error_px": 0.4358056031251292,
"confidence": 0.7960923757637975
},
{
"marker_id": 55,
"observed_center_px": [
998.75,
933.75
],
"projected_center_px": [
998.4560546875,
933.520263671875
],
"reprojection_error_px": 0.37307187940272357,
"confidence": 0.8637747711006405
},
{
"marker_id": 51,
"observed_center_px": [
734.25,
927.0
],
"projected_center_px": [
734.542236328125,
927.0016479492188
],
"reprojection_error_px": 0.29224097456142295,
"confidence": 0.8019389766111062
},
{
"marker_id": 47,
"observed_center_px": [
1106.75,
912.25
],
"projected_center_px": [
1106.971923828125,
912.1077270507812
],
"reprojection_error_px": 0.26361293133883923,
"confidence": 0.7469874806952211
},
{
"marker_id": 210,
"observed_center_px": [
324.0,
632.0
364.75,
845.75
],
"projected_center_px": [
329.935302734375,
635.4237060546875
364.7762451171875,
845.8452758789062
],
"reprojection_error_px": 6.851976481102602,
"confidence": 0.46829700346999537
"reprojection_error_px": 0.0988245884258772,
"confidence": 0.6228300628754091
},
{
"marker_id": 85,
"observed_center_px": [
1183.75,
610.25
1331.5,
821.5
],
"projected_center_px": [
1179.0107421875,
605.0341186523438
1331.9002685546875,
821.5863037109375
],
"reprojection_error_px": 7.047409655055584,
"confidence": 0.4560525484643318
},
{
"marker_id": 105,
"observed_center_px": [
1149.25,
560.5
],
"projected_center_px": [
1147.0389404296875,
556.7304077148438
],
"reprojection_error_px": 4.370195695821872,
"confidence": 0.4340327604988638
"reprojection_error_px": 0.4094670272356539,
"confidence": 0.601549080134278
},
{
"marker_id": 79,
"observed_center_px": [
814.0,
599.0
916.0,
809.0
],
"projected_center_px": [
814.3928833007812,
594.5369262695312
916.130859375,
808.7615966796875
],
"reprojection_error_px": 4.480333069274316,
"confidence": 0.5734281513866332
"reprojection_error_px": 0.2719564655628086,
"confidence": 0.6813525019168335
},
{
"marker_id": 105,
"observed_center_px": [
1293.75,
765.25
],
"projected_center_px": [
1293.8778076171875,
765.3432006835938
],
"reprojection_error_px": 0.1581807650553279,
"confidence": 0.5581601454743093
},
{
"marker_id": 215,
"observed_center_px": [
678.75,
548.75
763.75,
752.25
],
"projected_center_px": [
680.5975952148438,
554.180908203125
763.8714599609375,
752.6234741210938
],
"reprojection_error_px": 5.736581908129957,
"confidence": 0.456911083882938
},
{
"marker_id": 62,
"observed_center_px": [
931.75,
557.25
],
"projected_center_px": [
930.3129272460938,
554.1737060546875
],
"reprojection_error_px": 3.395403148079185,
"confidence": 0.42343506459130176
},
{
"marker_id": 211,
"observed_center_px": [
610.0,
487.75
],
"projected_center_px": [
611.273681640625,
493.5650329589844
],
"reprojection_error_px": 5.952887806412932,
"confidence": 0.3826078272694969
"reprojection_error_px": 0.3927282027531102,
"confidence": 0.6150148639495266
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
514.75
144.5,
713.75
],
"projected_center_px": [
129.00169372558594,
512.9826049804688
144.66244506835938,
713.7713623046875
],
"reprojection_error_px": 1.837221203164215,
"confidence": 0.29844141482805986
"reprojection_error_px": 0.16384367029532634,
"confidence": 0.38049126145778556
},
{
"marker_id": 102,
"marker_id": 211,
"observed_center_px": [
1217.75,
461.5
686.5,
683.25
],
"projected_center_px": [
1217.08349609375,
460.0548400878906
686.4893798828125,
683.2825927734375
],
"reprojection_error_px": 1.591450479472888,
"confidence": 0.2521714913889437
"reprojection_error_px": 0.034279378194833676,
"confidence": 0.49052671216614224
},
{
"marker_id": 214,
"observed_center_px": [
721.75,
435.25
812.25,
625.0
],
"projected_center_px": [
722.8994140625,
442.1115417480469
812.4707641601562,
625.0606079101562
],
"reprojection_error_px": 6.957147967900562,
"confidence": 0.35589175865715006
"reprojection_error_px": 0.22893259528298385,
"confidence": 0.4724021145715321
},
{
"marker_id": 74,
"observed_center_px": [
311.75,
487.5
350.75,
683.75
],
"projected_center_px": [
311.7843933105469,
486.39129638671875
350.876220703125,
683.5564575195312
],
"reprojection_error_px": 1.1092369457934916,
"confidence": 0.27942076592245474
"reprojection_error_px": 0.23106353594491247,
"confidence": 0.3781991278308761
},
{
"marker_id": 102,
"observed_center_px": [
1370.0,
654.25
],
"projected_center_px": [
1370.06298828125,
654.1793212890625
],
"reprojection_error_px": 0.09467314167500614,
"confidence": 0.36938172995419555
},
{
"marker_id": 62,
"observed_center_px": [
1048.0,
762.25
],
"projected_center_px": [
1047.5302734375,
762.0980224609375
],
"reprojection_error_px": 0.493700532608139,
"confidence": 0.48229908617407646
},
{
"marker_id": 92,
"observed_center_px": [
1173.25,
437.75
1319.75,
627.75
],
"projected_center_px": [
1173.2877197265625,
436.8787536621094
1319.811279296875,
627.72900390625
],
"reprojection_error_px": 0.8720624742871206,
"confidence": 0.31777455864589965
},
{
"marker_id": 217,
"observed_center_px": [
1087.75,
347.0
],
"projected_center_px": [
1090.884765625,
353.3088684082031
],
"reprojection_error_px": 7.044755220424984,
"confidence": 0.3029173397022545
"reprojection_error_px": 0.0647764477125226,
"confidence": 0.39949701144177324
},
{
"marker_id": 61,
"observed_center_px": [
58.5,
415.5
66.0,
602.5
],
"projected_center_px": [
53.38236618041992,
414.8513488769531
66.13390350341797,
602.27880859375
],
"reprojection_error_px": 5.15857772944634,
"confidence": 0.1527342148240039
"reprojection_error_px": 0.2585648592258014,
"confidence": 0.2389002996853347
},
{
"marker_id": 217,
"observed_center_px": [
1224.0,
525.5
],
"projected_center_px": [
1223.981201171875,
525.464111328125
],
"reprojection_error_px": 0.04051410504780659,
"confidence": 0.3668959235531314
},
{
"marker_id": 52,
"observed_center_px": [
273.75,
442.75
308.0,
633.0
],
"projected_center_px": [
270.9128112792969,
442.1055603027344
307.0505065917969,
633.1763916015625
],
"reprojection_error_px": 2.9094573996360293,
"confidence": 0.21946523336267398
"reprojection_error_px": 0.9657389550613406,
"confidence": 0.30967896676414425
},
{
"marker_id": 83,
"observed_center_px": [
139.0,
383.0
156.25,
565.5
],
"projected_center_px": [
132.93194580078125,
382.32489013671875
156.42898559570312,
565.7276000976562
],
"reprojection_error_px": 6.105493845067403,
"confidence": 0.19743498130596515
"reprojection_error_px": 0.2895473155156805,
"confidence": 0.2637568632301829
},
{
"marker_id": 206,
"observed_center_px": [
1013.0,
301.0
1139.75,
473.5
],
"projected_center_px": [
1016.6549072265625,
306.70599365234375
1140.10546875,
473.6448669433594
],
"reprojection_error_px": 6.776187010064432,
"confidence": 0.2849187633475991
"reprojection_error_px": 0.38385474271506775,
"confidence": 0.35164169987391336
},
{
"marker_id": 207,
"marker_id": 72,
"observed_center_px": [
1098.0,
262.0
737.5,
473.0
],
"projected_center_px": [
1102.9075927734375,
266.94818115234375
737.5469970703125,
473.02435302734375
],
"reprojection_error_px": 6.969143673817171,
"confidence": 0.24627951083020566
"reprojection_error_px": 0.0529319804916036,
"confidence": 0.2647897353782805
},
{
"marker_id": 53,
"observed_center_px": [
686.0,
273.75
771.25,
443.0
],
"projected_center_px": [
684.2611083984375,
272.3081359863281
771.3316040039062,
443.0336608886719
],
"reprojection_error_px": 2.258919174274849,
"confidence": 0.19681943169996122
"reprojection_error_px": 0.08827382896256188,
"confidence": 0.2535726332797877
},
{
"marker_id": 93,
"marker_id": 91,
"observed_center_px": [
1104.25,
154.5
910.25,
295.25
],
"projected_center_px": [
1111.302001953125,
150.79293823242188
909.742431640625,
295.1405029296875
],
"reprojection_error_px": 7.966996830394642,
"confidence": 0.15396639291733288
"reprojection_error_px": 0.519244882349022,
"confidence": 0.1782778940058968
}
]
},