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

2462
data/evaluations/Scene12/aruco_marker_poses.json Normal file
View File

File diff suppressed because it is too large Load Diff

2695
data/evaluations/Scene12/render_a_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

579
data/evaluations/Scene12/render_a_camera_pose.json Normal file
View File

@@ -0,0 +1,579 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:30Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 27,
"used_marker_ids": [
97,
95,
103,
54,
55,
51,
47,
210,
85,
79,
96,
105,
62,
75,
102,
92,
61,
217,
83,
206,
72,
46,
53,
50,
76,
90,
98
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.013569645886531822,
0.0008286486769559049,
8.380980089768e-05,
8.373139850301565e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.23682531857206568,
"residual_median_px": 0.20572156328725652,
"residual_max_px": 0.44648398268341155,
"sigma2_normalized": 7.887315481031506e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8079115748405457,
-0.5893034934997559,
0.0005798847414553165
],
[
-0.34297630190849304,
-0.4710065424442291,
-0.8127238750457764
],
[
0.4792141318321228,
0.6564100980758667,
-0.582648754119873
]
],
"translation_m": [
-0.22883108258247375,
0.17066460847854614,
1.1345936059951782
],
"rvec_rad": [
2.106268466426251,
-0.6862085006435511,
0.3531544388827099
]
},
"camera_in_world": {
"position_m": [
-0.3003040552139282,
-0.7992255091667175,
0.7999054789543152
],
"position_mm": [
-300.3040466308594,
-799.2255249023438,
799.9054565429688
],
"orientation_deg": {
"roll": 131.5931854248047,
"pitch": -28.63408851623535,
"yaw": -23.00229263305664
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.1029062061101747e-08,
-5.4813396252667375e-09,
1.6068380984978096e-09,
1.4795723230349181e-09,
2.5947948462876744e-09,
9.032070956000331e-09
],
[
-5.4813396252667044e-09,
1.1558286599098074e-08,
8.396841332990918e-10,
-1.5144880073488847e-09,
-3.6990324882808543e-09,
-3.4935839858351117e-09
],
[
1.6068380984978287e-09,
8.396841332990814e-10,
3.573029371711405e-08,
3.4251261070092503e-09,
-4.965006788649651e-09,
-6.813184462193225e-09
],
[
1.479572323034914e-09,
-1.5144880073488866e-09,
3.4251261070092396e-09,
1.1251829953139806e-09,
1.5607975254399128e-10,
1.035382110367025e-09
],
[
2.5947948462876587e-09,
-3.699032488280855e-09,
-4.965006788649664e-09,
1.5607975254398848e-10,
2.4606440627518452e-09,
3.6088082928627332e-09
],
[
9.032070956000292e-09,
-3.493583985835121e-09,
-6.8131844621932994e-09,
1.0353821103670193e-09,
3.6088082928627456e-09,
1.6695097695740637e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.008308690538765772,
0.006159839011108554,
0.010830310942088722
],
"tvec_std_m": [
3.354374748465026e-05,
4.960487942482922e-05,
0.00012920951085636318
]
},
"camera_center_std_m": [
0.00017828462769185416,
0.00014280138785746036,
0.00019967215602304338
],
"camera_center_std_mm": [
0.17828462769185416,
0.14280138785746035,
0.1996721560230434
],
"orientation_std_deg": {
"roll": 0.010107489447636847,
"pitch": 0.0077050763306238165,
"yaw": 0.006864498303782839
}
}
},
"observations": {
"markers": [
{
"marker_id": 97,
"observed_center_px": [
1152.0,
1026.25
],
"projected_center_px": [
1151.9625244140625,
1026.4366455078125
],
"reprojection_error_px": 0.1903705994315954,
"confidence": 0.4897720015297098
},
{
"marker_id": 95,
"observed_center_px": [
876.5,
1027.25
],
"projected_center_px": [
876.5790405273438,
1027.1588134765625
],
"reprojection_error_px": 0.12067471574193091,
"confidence": 0.5416450286820796
},
{
"marker_id": 103,
"observed_center_px": [
659.0,
994.75
],
"projected_center_px": [
659.0980224609375,
994.58544921875
],
"reprojection_error_px": 0.19153423312355697,
"confidence": 0.8649082431225718
},
{
"marker_id": 54,
"observed_center_px": [
1162.25,
961.0
],
"projected_center_px": [
1161.8968505859375,
961.2623901367188
],
"reprojection_error_px": 0.43995805766001306,
"confidence": 0.7960923757637975
},
{
"marker_id": 55,
"observed_center_px": [
998.75,
933.75
],
"projected_center_px": [
998.4539184570312,
933.535888671875
],
"reprojection_error_px": 0.3653873847277806,
"confidence": 0.8637747711006405
},
{
"marker_id": 51,
"observed_center_px": [
734.25,
927.0
],
"projected_center_px": [
734.5408325195312,
927.0477294921875
],
"reprojection_error_px": 0.2947230205487375,
"confidence": 0.8019389766111062
},
{
"marker_id": 47,
"observed_center_px": [
1106.75,
912.25
],
"projected_center_px": [
1106.9521484375,
912.10693359375
],
"reprojection_error_px": 0.24765295754539546,
"confidence": 0.7469874806952211
},
{
"marker_id": 210,
"observed_center_px": [
364.75,
845.75
],
"projected_center_px": [
364.7235412597656,
845.9249267578125
],
"reprojection_error_px": 0.1769164648459356,
"confidence": 0.6228300628754091
},
{
"marker_id": 85,
"observed_center_px": [
1331.5,
821.5
],
"projected_center_px": [
1331.812744140625,
821.54833984375
],
"reprojection_error_px": 0.31645795611588623,
"confidence": 0.601549080134278
},
{
"marker_id": 79,
"observed_center_px": [
916.25,
809.0
],
"projected_center_px": [
916.0797119140625,
808.7631225585938
],
"reprojection_error_px": 0.29173439025838005,
"confidence": 0.711469799121534
},
{
"marker_id": 96,
"observed_center_px": [
1018.5,
795.25
],
"projected_center_px": [
1018.3423461914062,
795.3215942382812
],
"reprojection_error_px": 0.17314865959396614,
"confidence": 0.6827978007642943
},
{
"marker_id": 105,
"observed_center_px": [
1293.75,
765.25
],
"projected_center_px": [
1293.7738037109375,
765.3016357421875
],
"reprojection_error_px": 0.056858302169956014,
"confidence": 0.5581601454743093
},
{
"marker_id": 62,
"observed_center_px": [
1047.25,
762.0
],
"projected_center_px": [
1047.4532470703125,
762.0783081054688
],
"reprojection_error_px": 0.21781076872533,
"confidence": 0.616624476061661
},
{
"marker_id": 75,
"observed_center_px": [
144.5,
713.75
],
"projected_center_px": [
144.48138427734375,
713.8167114257812
],
"reprojection_error_px": 0.06926008561777589,
"confidence": 0.38049126145778556
},
{
"marker_id": 102,
"observed_center_px": [
1370.0,
654.25
],
"projected_center_px": [
1369.901123046875,
654.1168823242188
],
"reprojection_error_px": 0.16582209582768348,
"confidence": 0.36938172995419555
},
{
"marker_id": 92,
"observed_center_px": [
1319.75,
627.75
],
"projected_center_px": [
1319.6473388671875,
627.6664428710938
],
"reprojection_error_px": 0.13236729951691786,
"confidence": 0.39949701144177324
},
{
"marker_id": 61,
"observed_center_px": [
66.0,
602.5
],
"projected_center_px": [
65.88048553466797,
602.2900390625
],
"reprojection_error_px": 0.24159325880388344,
"confidence": 0.2389002996853347
},
{
"marker_id": 217,
"observed_center_px": [
1224.0,
525.5
],
"projected_center_px": [
1223.8089599609375,
525.4009399414062
],
"reprojection_error_px": 0.21519570565789345,
"confidence": 0.3668959235531314
},
{
"marker_id": 83,
"observed_center_px": [
156.25,
565.5
],
"projected_center_px": [
156.18336486816406,
565.7203369140625
],
"reprojection_error_px": 0.23019252049833913,
"confidence": 0.2637568632301829
},
{
"marker_id": 206,
"observed_center_px": [
1139.75,
473.5
],
"projected_center_px": [
1139.9200439453125,
473.57568359375
],
"reprojection_error_px": 0.18612616608192287,
"confidence": 0.35164169987391336
},
{
"marker_id": 72,
"observed_center_px": [
737.5,
473.0
],
"projected_center_px": [
737.3502197265625,
472.9613037109375
],
"reprojection_error_px": 0.15469820004841953,
"confidence": 0.2647897353782805
},
{
"marker_id": 46,
"observed_center_px": [
844.5,
437.0
],
"projected_center_px": [
844.866455078125,
437.25506591796875
],
"reprojection_error_px": 0.44648398268341155,
"confidence": 0.2545174002299098
},
{
"marker_id": 53,
"observed_center_px": [
771.0,
443.0
],
"projected_center_px": [
771.1234741210938,
442.9616394042969
],
"reprojection_error_px": 0.12929576127071085,
"confidence": 0.25666522639218753
},
{
"marker_id": 50,
"observed_center_px": [
860.0,
407.75
],
"projected_center_px": [
860.0806274414062,
407.54718017578125
],
"reprojection_error_px": 0.2182582539191655,
"confidence": 0.2353766254350542
},
{
"marker_id": 76,
"observed_center_px": [
1005.25,
387.75
],
"projected_center_px": [
1005.1338500976562,
387.9899597167969
],
"reprojection_error_px": 0.26659232078156175,
"confidence": 0.2429182303832221
},
{
"marker_id": 90,
"observed_center_px": [
845.25,
327.75
],
"projected_center_px": [
845.183349609375,
327.8323059082031
],
"reprojection_error_px": 0.10590815405626862,
"confidence": 0.20586315558848348
},
{
"marker_id": 98,
"observed_center_px": [
781.5,
353.0
],
"projected_center_px": [
781.5491333007812,
352.80023193359375
],
"reprojection_error_px": 0.20572156328725652,
"confidence": 0.20614873083706559
}
]
},
"qa": {
"sanity_notes": []
}
}

3508
data/evaluations/Scene12/render_b_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

887
data/evaluations/Scene12/render_b_camera_pose.json Normal file
View File

@@ -0,0 +1,887 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:30Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "b",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 49,
"used_marker_ids": [
48,
54,
85,
71,
47,
69,
95,
59,
105,
55,
63,
102,
58,
64,
103,
92,
62,
51,
96,
79,
217,
205,
208,
210,
206,
207,
214,
100,
76,
94,
75,
56,
68,
104,
46,
72,
50,
53,
84,
60,
86,
67,
82,
70,
90,
61,
98,
83,
73
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.009682558369338363,
0.00036923779214473264,
6.198648179529137e-05,
6.198042239269198e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.17530950289707048,
"residual_median_px": 0.16797241218034456,
"residual_max_px": 0.34421841854931445,
"sigma2_normalized": 4.092110113779701e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999231100082397,
-0.012394449673593044,
0.0004345531342551112
],
[
-0.009388556703925133,
-0.7793867588043213,
-0.6264727711677551
],
[
0.00810347031801939,
0.6264205574989319,
-0.7794431447982788
]
],
"translation_m": [
-0.31128981709480286,
0.05271991714835167,
1.4961113929748535
],
"rvec_rad": [
2.46453590213762,
-0.015085340486514099,
0.005912820004039734
]
},
"camera_in_world": {
"position_m": [
0.2996371388435364,
-0.8999639749526978,
1.1992965936660767
],
"position_mm": [
299.63714599609375,
-899.9639892578125,
1199.296630859375
],
"orientation_deg": {
"roll": 141.2119598388672,
"pitch": -0.46429967880249023,
"yaw": -0.5379502177238464
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.3104641102737798e-08,
-2.9288113949011867e-10,
6.277570232371271e-10,
4.0496246475241263e-10,
5.881100650423019e-10,
3.914671385616851e-09
],
[
-2.9288113949012415e-10,
3.0358495217347296e-09,
1.760567533300325e-10,
5.147172773147329e-11,
-9.92272891260795e-10,
1.2695252678281999e-10
],
[
6.277570232370881e-10,
1.7605675333003554e-10,
2.612039611719402e-08,
9.713384821008972e-10,
-3.0353901912758798e-09,
-8.876638958689427e-09
],
[
4.049624647524121e-10,
5.147172773147415e-11,
9.713384821009016e-10,
2.6587155674203067e-10,
-8.410422656528405e-11,
1.50778388063475e-10
],
[
5.881100650423105e-10,
-9.922728912607949e-10,
-3.0353901912758744e-09,
-8.410422656528306e-11,
8.999901574826621e-10,
1.4679480787469337e-09
],
[
3.914671385616873e-09,
1.2695252678281999e-10,
-8.876638958689396e-09,
1.5077838806347833e-10,
1.4679480787469318e-09,
8.60268854769223e-09
]
],
"parameter_std": {
"rvec_std_deg": [
0.006558963258525889,
0.003156914013341334,
0.009260032518212159
],
"tvec_std_m": [
1.630556827412129e-05,
2.999983595759587e-05,
9.275067949989494e-05
]
},
"camera_center_std_m": [
0.00018107488442986193,
0.00013287305342961773,
0.00015556407645007697
],
"camera_center_std_mm": [
0.18107488442986192,
0.13287305342961772,
0.15556407645007697
],
"orientation_std_deg": {
"roll": 0.005240272722409643,
"pitch": 0.006725616014214684,
"yaw": 0.0033156878019738414
}
}
},
"observations": {
"markers": [
{
"marker_id": 48,
"observed_center_px": [
1296.75,
1014.0
],
"projected_center_px": [
1296.840576171875,
1013.98828125
],
"reprojection_error_px": 0.09133111196679936,
"confidence": 0.760673653400868
},
{
"marker_id": 54,
"observed_center_px": [
773.25,
1034.0
],
"projected_center_px": [
773.3701171875,
1033.9041748046875
],
"reprojection_error_px": 0.15365743323897132,
"confidence": 0.4409463063063063
},
{
"marker_id": 85,
"observed_center_px": [
1017.5,
1006.0
],
"projected_center_px": [
1017.4063720703125,
1005.9723510742188
],
"reprojection_error_px": 0.09762505986899324,
"confidence": 0.7334418063933661
},
{
"marker_id": 71,
"observed_center_px": [
1377.0,
962.25
],
"projected_center_px": [
1376.8448486328125,
962.334228515625
],
"reprojection_error_px": 0.17654005093615818,
"confidence": 0.5878075337294003
},
{
"marker_id": 47,
"observed_center_px": [
774.5,
972.5
],
"projected_center_px": [
774.3802490234375,
972.4898071289062
],
"reprojection_error_px": 0.12018398815485459,
"confidence": 0.7263332595825196
},
{
"marker_id": 69,
"observed_center_px": [
272.5,
970.75
],
"projected_center_px": [
272.36309814453125,
970.8109741210938
],
"reprojection_error_px": 0.14986647882012108,
"confidence": 0.6999764351430906
},
{
"marker_id": 95,
"observed_center_px": [
539.0,
958.25
],
"projected_center_px": [
539.0651245117188,
958.1702270507812
],
"reprojection_error_px": 0.10298021874934464,
"confidence": 0.6938248147266242
},
{
"marker_id": 59,
"observed_center_px": [
1192.25,
957.25
],
"projected_center_px": [
1192.3302001953125,
957.25341796875
],
"reprojection_error_px": 0.08027299569929557,
"confidence": 0.6970072834744087
},
{
"marker_id": 105,
"observed_center_px": [
1040.0,
942.0
],
"projected_center_px": [
1040.030517578125,
942.1184692382812
],
"reprojection_error_px": 0.12233676059776583,
"confidence": 0.6879793294270834
},
{
"marker_id": 55,
"observed_center_px": [
684.0,
941.25
],
"projected_center_px": [
684.0659790039062,
941.1356811523438
],
"reprojection_error_px": 0.13199252965949948,
"confidence": 0.6507490007228183
},
{
"marker_id": 63,
"observed_center_px": [
1401.5,
898.5
],
"projected_center_px": [
1401.754638671875,
898.4579467773438
],
"reprojection_error_px": 0.25808782758983434,
"confidence": 0.22496309819539395
},
{
"marker_id": 102,
"observed_center_px": [
1213.5,
883.5
],
"projected_center_px": [
1213.2919921875,
883.5033569335938
],
"reprojection_error_px": 0.20803489866892047,
"confidence": 0.6525563227335612
},
{
"marker_id": 58,
"observed_center_px": [
345.75,
886.5
],
"projected_center_px": [
345.661376953125,
886.582763671875
],
"reprojection_error_px": 0.12125951434687966,
"confidence": 0.6367497422354562
},
{
"marker_id": 64,
"observed_center_px": [
247.75,
850.0
],
"projected_center_px": [
247.99905395507812,
849.7623901367188
],
"reprojection_error_px": 0.34421841854931445,
"confidence": 0.5966625464303152
},
{
"marker_id": 103,
"observed_center_px": [
429.75,
847.25
],
"projected_center_px": [
429.7467956542969,
847.1818237304688
],
"reprojection_error_px": 0.06825153154752488,
"confidence": 0.5644916934603736
},
{
"marker_id": 92,
"observed_center_px": [
1197.75,
835.5
],
"projected_center_px": [
1197.7119140625,
835.4557495117188
],
"reprojection_error_px": 0.05838359656943849,
"confidence": 0.5608112640925816
},
{
"marker_id": 62,
"observed_center_px": [
855.25,
827.0
],
"projected_center_px": [
855.4197387695312,
827.02490234375
],
"reprojection_error_px": 0.17155575363777797,
"confidence": 0.5915048217773438
},
{
"marker_id": 51,
"observed_center_px": [
519.75,
827.0
],
"projected_center_px": [
519.5943603515625,
826.846923828125
],
"reprojection_error_px": 0.21830257571007525,
"confidence": 0.5915048217773438
},
{
"marker_id": 96,
"observed_center_px": [
806.5,
841.75
],
"projected_center_px": [
806.567138671875,
841.65869140625
],
"reprojection_error_px": 0.11333516909477594,
"confidence": 0.5707100255698545
},
{
"marker_id": 79,
"observed_center_px": [
724.0,
808.75
],
"projected_center_px": [
724.1491088867188,
808.8240356445312
],
"reprojection_error_px": 0.1664774361877988,
"confidence": 0.5317700588218801
},
{
"marker_id": 217,
"observed_center_px": [
1190.5,
701.5
],
"projected_center_px": [
1190.3538818359375,
701.3744506835938
],
"reprojection_error_px": 0.19264773219291303,
"confidence": 0.4942630920410156
},
{
"marker_id": 205,
"observed_center_px": [
1328.5,
699.75
],
"projected_center_px": [
1328.4326171875,
699.9850463867188
],
"reprojection_error_px": 0.2445143090494917,
"confidence": 0.5085178133372956
},
{
"marker_id": 208,
"observed_center_px": [
775.25,
705.5
],
"projected_center_px": [
775.186767578125,
705.552001953125
],
"reprojection_error_px": 0.08186905584525007,
"confidence": 0.47918126981398634
},
{
"marker_id": 210,
"observed_center_px": [
327.5,
631.5
],
"projected_center_px": [
327.62908935546875,
631.5826416015625
],
"reprojection_error_px": 0.15327653442113146,
"confidence": 0.45180041003079296
},
{
"marker_id": 206,
"observed_center_px": [
1173.25,
612.5
],
"projected_center_px": [
1173.2593994140625,
612.5452880859375
],
"reprojection_error_px": 0.046253212997593024,
"confidence": 0.415572869657266
},
{
"marker_id": 207,
"observed_center_px": [
1306.75,
611.25
],
"projected_center_px": [
1306.720947265625,
611.2506103515625
],
"reprojection_error_px": 0.029059144923657902,
"confidence": 0.4319802331725756
},
{
"marker_id": 214,
"observed_center_px": [
772.0,
616.25
],
"projected_center_px": [
772.0049438476562,
616.4378662109375
],
"reprojection_error_px": 0.18793125030622623,
"confidence": 0.4123737373737374
},
{
"marker_id": 100,
"observed_center_px": [
1320.25,
451.5
],
"projected_center_px": [
1320.2322998046875,
451.691650390625
],
"reprojection_error_px": 0.1924660207434438,
"confidence": 0.29718147824605307
},
{
"marker_id": 76,
"observed_center_px": [
1176.75,
458.0
],
"projected_center_px": [
1176.9024658203125,
458.13812255859375
],
"reprojection_error_px": 0.2057271677636365,
"confidence": 0.2962709127620767
},
{
"marker_id": 94,
"observed_center_px": [
1408.25,
449.75
],
"projected_center_px": [
1408.4112548828125,
449.7029724121094
],
"reprojection_error_px": 0.16797241218034456,
"confidence": 0.08771815461586722
},
{
"marker_id": 75,
"observed_center_px": [
306.0,
440.25
],
"projected_center_px": [
305.8489990234375,
440.444580078125
],
"reprojection_error_px": 0.24629799375139005,
"confidence": 0.303144246426618
},
{
"marker_id": 56,
"observed_center_px": [
947.75,
458.5
],
"projected_center_px": [
947.7064819335938,
458.48211669921875
],
"reprojection_error_px": 0.04704927789638691,
"confidence": 0.2904081389745076
},
{
"marker_id": 68,
"observed_center_px": [
1039.75,
455.75
],
"projected_center_px": [
1039.55810546875,
455.8240661621094
],
"reprojection_error_px": 0.20569226405791113,
"confidence": 0.3018093319641008
},
{
"marker_id": 104,
"observed_center_px": [
1332.0,
391.5
],
"projected_center_px": [
1332.1981201171875,
391.4405517578125
],
"reprojection_error_px": 0.20684698289695305,
"confidence": 0.30576462173461916
},
{
"marker_id": 46,
"observed_center_px": [
992.25,
442.5
],
"projected_center_px": [
992.3832397460938,
442.62451171875
],
"reprojection_error_px": 0.18236227144123335,
"confidence": 0.29023840891081715
},
{
"marker_id": 72,
"observed_center_px": [
874.75,
435.5
],
"projected_center_px": [
874.923828125,
435.5760192871094
],
"reprojection_error_px": 0.18972387581333355,
"confidence": 0.28925843574260846
},
{
"marker_id": 50,
"observed_center_px": [
1033.75,
418.25
],
"projected_center_px": [
1033.56787109375,
418.31182861328125
],
"reprojection_error_px": 0.1923375052144112,
"confidence": 0.2745977478127983
},
{
"marker_id": 53,
"observed_center_px": [
928.25,
419.25
],
"projected_center_px": [
928.2841186523438,
418.9086608886719
],
"reprojection_error_px": 0.3430400433769034,
"confidence": 0.27204531918123787
},
{
"marker_id": 84,
"observed_center_px": [
830.5,
379.0
],
"projected_center_px": [
830.4904174804688,
379.04132080078125
],
"reprojection_error_px": 0.042417369764879795,
"confidence": 0.2669997914632161
},
{
"marker_id": 60,
"observed_center_px": [
860.5,
357.0
],
"projected_center_px": [
860.704833984375,
356.9733581542969
],
"reprojection_error_px": 0.20655931133068503,
"confidence": 0.2669997914632161
},
{
"marker_id": 86,
"observed_center_px": [
776.5,
350.75
],
"projected_center_px": [
776.2936401367188,
350.74658203125
],
"reprojection_error_px": 0.2063881674995739,
"confidence": 0.24741065232219583
},
{
"marker_id": 67,
"observed_center_px": [
967.0,
370.5
],
"projected_center_px": [
966.808349609375,
370.4043884277344
],
"reprojection_error_px": 0.21417620077361518,
"confidence": 0.24199632263183596
},
{
"marker_id": 82,
"observed_center_px": [
607.75,
347.75
],
"projected_center_px": [
607.5985717773438,
347.78302001953125
],
"reprojection_error_px": 0.15498654234053663,
"confidence": 0.2428118097214472
},
{
"marker_id": 70,
"observed_center_px": [
1055.25,
341.5
],
"projected_center_px": [
1055.359619140625,
341.33154296875
],
"reprojection_error_px": 0.20098290317568557,
"confidence": 0.23929733651024956
},
{
"marker_id": 90,
"observed_center_px": [
1101.25,
327.5
],
"projected_center_px": [
1101.0936279296875,
327.5
],
"reprojection_error_px": 0.1563720703125,
"confidence": 0.23929733651024956
},
{
"marker_id": 61,
"observed_center_px": [
328.75,
318.0
],
"projected_center_px": [
328.8371887207031,
318.0613098144531
],
"reprojection_error_px": 0.10658689584617874,
"confidence": 0.23586633094211165
},
{
"marker_id": 98,
"observed_center_px": [
1022.5,
329.5
],
"projected_center_px": [
1022.4512329101562,
329.3094177246094
],
"reprojection_error_px": 0.1967227306258644,
"confidence": 0.2333535968235561
},
{
"marker_id": 83,
"observed_center_px": [
406.5,
314.75
],
"projected_center_px": [
406.3450927734375,
314.62628173828125
],
"reprojection_error_px": 0.19824847319461208,
"confidence": 0.2227662572065438
},
{
"marker_id": 73,
"observed_center_px": [
611.5,
317.75
],
"projected_center_px": [
611.5215454101562,
317.89715576171875
],
"reprojection_error_px": 0.14872465466702744,
"confidence": 0.22184788855049195
}
]
},
"qa": {
"sanity_notes": []
}
}

1544
data/evaluations/Scene12/render_c_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

355
data/evaluations/Scene12/render_c_camera_pose.json Normal file
View File

@@ -0,0 +1,355 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:30Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "c",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 11,
"used_marker_ids": [
58,
96,
62,
64,
103,
51,
79,
208,
214,
210,
46
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.007016616852156748,
0.00016106784341587236,
4.3590887339034974e-05,
4.358872510910168e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.12329967143922184,
"residual_median_px": 0.11232035983651718,
"residual_max_px": 0.18640830196328792,
"sigma2_normalized": 2.6124683133146665e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9938030242919922,
0.1111544668674469,
0.0005202947650104761
],
[
0.033556509763002396,
-0.29555103182792664,
-0.9547374248504639
],
[
-0.10596955567598343,
0.9488383531570435,
-0.2974494695663452
]
],
"translation_m": [
-0.19775529205799103,
0.10605161637067795,
1.0044796466827393
],
"rvec_rad": [
1.8705925035363242,
0.10464469609406983,
-0.07625341205759421
]
},
"camera_in_world": {
"position_m": [
0.29941534996032715,
-0.8997637629508972,
0.400136262178421
],
"position_mm": [
299.41534423828125,
-899.7637329101562,
400.1362609863281
],
"orientation_deg": {
"roll": 107.40557861328125,
"pitch": 6.083029270172119,
"yaw": 1.9339004755020142
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.2017531243858134e-08,
4.274757839618624e-09,
8.013262266431698e-09,
-3.776014384394423e-11,
-5.0777501154620056e-09,
7.506292766662584e-11
],
[
4.2747578396186426e-09,
9.599365496817268e-09,
-5.150460084920618e-09,
1.193600686184658e-09,
-1.2142516042167332e-09,
2.6374704895028395e-09
],
[
8.013262266431606e-09,
-5.150460084920632e-09,
3.160670586212249e-08,
-1.9378704810195974e-09,
-4.135970533537309e-09,
-7.336889165289382e-09
],
[
-3.776014384393948e-11,
1.1936006861846576e-09,
-1.937870481019589e-09,
3.8601771520632364e-10,
8.881265083966506e-11,
6.54226914620536e-10
],
[
-5.077750115461996e-09,
-1.2142516042167276e-09,
-4.135970533537324e-09,
8.881265083966685e-11,
1.6158473784987665e-09,
1.4531910092054614e-09
],
[
7.506292766665695e-11,
2.637470489502848e-09,
-7.336889165289379e-09,
6.542269146205382e-10,
1.4531910092054556e-09,
6.421317134140382e-09
]
],
"parameter_std": {
"rvec_std_deg": [
0.010252187809391558,
0.005613631445778692,
0.010186201191176676
],
"tvec_std_m": [
1.9647333539346343e-05,
4.019760413878875e-05,
8.013312133032372e-05
]
},
"camera_center_std_m": [
0.0001380856216145841,
6.878050144962065e-05,
0.00015303379095809775
],
"camera_center_std_mm": [
0.1380856216145841,
0.06878050144962065,
0.15303379095809774
],
"orientation_std_deg": {
"roll": 0.00930748630794134,
"pitch": 0.008401746757052141,
"yaw": 0.005755656160118874
}
}
},
"observations": {
"markers": [
{
"marker_id": 58,
"observed_center_px": [
289.5,
1035.5
],
"projected_center_px": [
289.598876953125,
1035.4375
],
"reprojection_error_px": 0.11697393666660727,
"confidence": 0.3300237835361035
},
{
"marker_id": 96,
"observed_center_px": [
1094.0,
1041.25
],
"projected_center_px": [
1094.1019287109375,
1041.3177490234375
],
"reprojection_error_px": 0.12239032760032696,
"confidence": 0.2039898727848836
},
{
"marker_id": 62,
"observed_center_px": [
1180.5,
1031.5
],
"projected_center_px": [
1180.3428955078125,
1031.423583984375
],
"reprojection_error_px": 0.17470325958462393,
"confidence": 0.3084011374684583
},
{
"marker_id": 64,
"observed_center_px": [
146.5,
987.25
],
"projected_center_px": [
146.4176788330078,
987.313232421875
],
"reprojection_error_px": 0.1038032451859459,
"confidence": 0.640874213187769
},
{
"marker_id": 103,
"observed_center_px": [
444.0,
1004.5
],
"projected_center_px": [
444.08465576171875,
1004.3339233398438
],
"reprojection_error_px": 0.18640830196328792,
"confidence": 0.5442461717587225
},
{
"marker_id": 51,
"observed_center_px": [
599.5,
993.5
],
"projected_center_px": [
599.4124755859375,
993.6273803710938
],
"reprojection_error_px": 0.15455187477661153,
"confidence": 0.5134730357373242
},
{
"marker_id": 79,
"observed_center_px": [
949.0,
997.75
],
"projected_center_px": [
949.1014404296875,
997.724853515625
],
"reprojection_error_px": 0.10451079586151256,
"confidence": 0.48301720269421017
},
{
"marker_id": 208,
"observed_center_px": [
1037.75,
866.75
],
"projected_center_px": [
1037.65771484375,
866.8140258789062
],
"reprojection_error_px": 0.11232035983651718,
"confidence": 0.38947547888708767
},
{
"marker_id": 214,
"observed_center_px": [
1031.0,
791.5
],
"projected_center_px": [
1031.0511474609375,
791.5429077148438
],
"reprojection_error_px": 0.0667617761407353,
"confidence": 0.2873822610945893
},
{
"marker_id": 210,
"observed_center_px": [
353.75,
768.5
],
"projected_center_px": [
353.67596435546875,
768.5121459960938
],
"reprojection_error_px": 0.07502534160046856,
"confidence": 0.28397138024588997
},
{
"marker_id": 46,
"observed_center_px": [
1349.5,
708.5
],
"projected_center_px": [
1349.5556640625,
708.4562377929688
],
"reprojection_error_px": 0.07080691080854956,
"confidence": 0.16166783506209648
}
]
},
"qa": {
"sanity_notes": []
}
}

1518
data/evaluations/Scene12/render_d_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

397
data/evaluations/Scene12/render_d_camera_pose.json Normal file
View File

@@ -0,0 +1,397 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:31Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 14,
"used_marker_ids": [
95,
79,
208,
69,
51,
103,
58,
214,
64,
211,
72,
84,
86,
82
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.005445133356571395,
0.0001839196529977501,
7.126679088116217e-05,
7.126618858243272e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.20157124706451862,
"residual_median_px": 0.1999512020748218,
"residual_max_px": 0.29085669562135164,
"sigma2_normalized": 6.464015898947936e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8189834952354431,
0.5738170146942139,
-0.0001522956445114687
],
[
0.1614612638950348,
-0.23070113360881805,
-0.9595348834991455
],
[
-0.5506325960159302,
0.7858186960220337,
-0.28158965706825256
]
],
"translation_m": [
-0.11480410397052765,
0.0864604115486145,
1.1266937255859375
],
"rvec_rad": [
1.790765746980792,
0.5648032103319289,
-0.4230848193217965
]
},
"camera_in_world": {
"position_m": [
0.700456976890564,
-0.7995539307594299,
0.40020960569381714
],
"position_mm": [
700.4569702148438,
-799.553955078125,
400.2095947265625
],
"orientation_deg": {
"roll": 109.71458435058594,
"pitch": 33.410423278808594,
"yaw": 11.152743339538574
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.388721692233939e-08,
2.200425289149055e-08,
2.062376732559511e-08,
2.1294094950170088e-10,
-9.284381692585626e-09,
6.581032055409397e-10
],
[
2.2004252891490597e-08,
3.0004017991909275e-08,
2.4004477392693313e-09,
2.7883888567948956e-09,
-5.6461182685181166e-09,
6.625472402695096e-09
],
[
2.0623767325595093e-08,
2.4004477392693263e-09,
5.274954447022547e-08,
-3.285953890965272e-09,
-8.967774896069776e-09,
-1.4289584045399276e-08
],
[
2.129409495017075e-10,
2.788388856794895e-09,
-3.2859538909652705e-09,
9.322679158708103e-10,
1.17911329232955e-10,
1.6728484482496831e-09
],
[
-9.284381692585626e-09,
-5.646118268518116e-09,
-8.967774896069771e-09,
1.1791132923295442e-10,
3.360060363905632e-09,
2.697679427415415e-09
],
[
6.581032055409552e-10,
6.625472402695092e-09,
-1.4289584045399256e-08,
1.6728484482496792e-09,
2.697679427415414e-09,
1.5210076967557427e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.012003051045338374,
0.009924584665854103,
0.013159275798731595
],
"tvec_std_m": [
3.053306266771826e-05,
5.796602767057298e-05,
0.00012332914078820717
]
},
"camera_center_std_m": [
0.00019862313119974222,
0.00011857798142586821,
0.0002202484727654713
],
"camera_center_std_mm": [
0.19862313119974223,
0.11857798142586821,
0.2202484727654713
],
"orientation_std_deg": {
"roll": 0.01653506191503046,
"pitch": 0.01017696674215643,
"yaw": 0.013910594874628417
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
426.75,
1044.25
],
"projected_center_px": [
426.81756591796875,
1044.3577880859375
],
"reprojection_error_px": 0.12721409018276922,
"confidence": 0.2725094280309524
},
{
"marker_id": 79,
"observed_center_px": [
838.75,
1017.25
],
"projected_center_px": [
838.6275024414062,
1017.1675415039062
],
"reprojection_error_px": 0.14766534948819984,
"confidence": 0.6090066030375576
},
{
"marker_id": 208,
"observed_center_px": [
998.5,
918.5
],
"projected_center_px": [
998.502197265625,
918.7161254882812
],
"reprojection_error_px": 0.2161366573745313,
"confidence": 0.5977367963770058
},
{
"marker_id": 69,
"observed_center_px": [
126.0,
933.25
],
"projected_center_px": [
126.23101043701172,
933.219970703125
],
"reprojection_error_px": 0.23295403125756842,
"confidence": 0.7042337796652973
},
{
"marker_id": 51,
"observed_center_px": [
552.0,
936.0
],
"projected_center_px": [
552.1124877929688,
935.7998046875
],
"reprojection_error_px": 0.22963376649341669,
"confidence": 0.7520399118507476
},
{
"marker_id": 103,
"observed_center_px": [
427.5,
912.5
],
"projected_center_px": [
427.2442626953125,
912.6385498046875
],
"reprojection_error_px": 0.29085669562135164,
"confidence": 0.7542345207653582
},
{
"marker_id": 58,
"observed_center_px": [
294.75,
906.0
],
"projected_center_px": [
294.6606140136719,
905.7485961914062
],
"reprojection_error_px": 0.2668215312288246,
"confidence": 0.7093145285353147
},
{
"marker_id": 214,
"observed_center_px": [
1078.5,
853.25
],
"projected_center_px": [
1078.739990234375,
853.1455078125
],
"reprojection_error_px": 0.26175165681214435,
"confidence": 0.44165340418811916
},
{
"marker_id": 64,
"observed_center_px": [
238.75,
845.75
],
"projected_center_px": [
238.6645965576172,
845.8497314453125
],
"reprojection_error_px": 0.13130159616301149,
"confidence": 0.5844856220502335
},
{
"marker_id": 211,
"observed_center_px": [
891.75,
802.5
],
"projected_center_px": [
891.652587890625,
802.6558227539062
],
"reprojection_error_px": 0.18376574677511234,
"confidence": 0.36853067170267756
},
{
"marker_id": 72,
"observed_center_px": [
1405.5,
806.25
],
"projected_center_px": [
1405.4010009765625,
806.2726440429688
],
"reprojection_error_px": 0.10155569567261735,
"confidence": 0.018124094894962296
},
{
"marker_id": 84,
"observed_center_px": [
1379.75,
753.75
],
"projected_center_px": [
1379.8179931640625,
753.519775390625
],
"reprojection_error_px": 0.24005507934868067,
"confidence": 0.1168227660503348
},
{
"marker_id": 86,
"observed_center_px": [
1321.25,
718.5
],
"projected_center_px": [
1321.293212890625,
718.48583984375
],
"reprojection_error_px": 0.0454737720141251,
"confidence": 0.1706963550335543
},
{
"marker_id": 82,
"observed_center_px": [
1097.25,
667.25
],
"projected_center_px": [
1097.22021484375,
667.4258422851562
],
"reprojection_error_px": 0.1783470346874566,
"confidence": 0.14200071347644871
}
]
},
"qa": {
"sanity_notes": []
}
}

2307
data/evaluations/Scene12/render_e_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

649
data/evaluations/Scene12/render_e_camera_pose.json Normal file
View File

@@ -0,0 +1,649 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:31Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "e",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 32,
"used_marker_ids": [
63,
48,
57,
59,
102,
92,
217,
85,
105,
206,
47,
54,
97,
66,
96,
62,
208,
55,
79,
95,
103,
214,
53,
72,
215,
51,
211,
60,
69,
58,
86,
82
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.005533814140359487,
0.0002931784752488266,
0.00011341061930010878,
0.00011340836045650484
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.3207702966072531,
"residual_median_px": 0.270456465845166,
"residual_max_px": 0.6494079876378961,
"sigma2_normalized": 1.4191951692535031e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.628866970539093,
0.7775129079818726,
0.0001530717418063432
],
[
0.2064560055732727,
-0.16679565608501434,
-0.9641343951225281
],
[
-0.749601423740387,
0.6063438653945923,
-0.2654144763946533
]
],
"translation_m": [
-0.05465828999876976,
-0.012549780309200287,
1.5511655807495117
],
"rvec_rad": [
1.7012996296438765,
0.8122092784967998,
-0.6186261391953282
]
},
"camera_in_world": {
"position_m": [
1.199719786643982,
-0.9001354575157166,
0.3996104896068573
],
"position_mm": [
1199.7197265625,
-900.1354370117188,
399.6105041503906
],
"orientation_deg": {
"roll": 113.6404037475586,
"pitch": 48.55585861206055,
"yaw": 18.174924850463867
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.3809641772667717e-08,
-7.295716933678232e-10,
9.676582791611571e-10,
-1.3223756431736614e-09,
-6.050514988591592e-09,
6.5539029534822575e-09
],
[
-7.29571693367761e-10,
1.4970073913133646e-08,
3.961888060719378e-09,
3.9608988343387395e-09,
-3.925396845530066e-09,
1.5812901525004196e-09
],
[
9.676582791611786e-10,
3.961888060719399e-09,
3.23096468699172e-08,
-4.811246122790142e-09,
-4.773290361043513e-09,
3.2592147111876027e-09
],
[
-1.3223756431736744e-09,
3.960898834338709e-09,
-4.81124612279013e-09,
2.900475828065931e-09,
1.2366248205627614e-10,
1.386495190928588e-09
],
[
-6.050514988591616e-09,
-3.925396845530055e-09,
-4.773290361043507e-09,
1.2366248205626044e-10,
3.949963279543689e-09,
1.7317281373812092e-10
],
[
6.553902953482238e-09,
1.581290152500422e-09,
3.2592147111876e-09,
1.3864951909285539e-09,
1.731728137381249e-10,
2.2248152827823534e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.008840952618514504,
0.0070102677339870766,
0.01029885012567914
],
"tvec_std_m": [
5.3856065842817846e-05,
6.284873331693877e-05,
0.00014915814703804663
]
},
"camera_center_std_m": [
0.00014217963132221823,
0.00015727573579307113,
0.00019034172299572867
],
"camera_center_std_mm": [
0.14217963132221823,
0.15727573579307114,
0.19034172299572868
],
"orientation_std_deg": {
"roll": 0.011710708170264462,
"pitch": 0.006838599236581732,
"yaw": 0.010550200024173081
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1321.75,
1053.5
],
"projected_center_px": [
1322.0760498046875,
1053.304931640625
],
"reprojection_error_px": 0.3799475489669739,
"confidence": 0.10255192012368959
},
{
"marker_id": 48,
"observed_center_px": [
1024.75,
1034.25
],
"projected_center_px": [
1024.5126953125,
1034.15966796875
],
"reprojection_error_px": 0.2539161093338184,
"confidence": 0.46991091003074825
},
{
"marker_id": 57,
"observed_center_px": [
813.75,
989.0
],
"projected_center_px": [
813.484375,
989.2312622070312
],
"reprojection_error_px": 0.3521914948234337,
"confidence": 0.774347714351216
},
{
"marker_id": 59,
"observed_center_px": [
986.0,
952.0
],
"projected_center_px": [
986.1099853515625,
952.0723876953125
],
"reprojection_error_px": 0.13166911555479538,
"confidence": 0.7322350971120686
},
{
"marker_id": 102,
"observed_center_px": [
1105.5,
935.25
],
"projected_center_px": [
1105.6505126953125,
935.4310913085938
],
"reprojection_error_px": 0.23547427353838518,
"confidence": 0.6662611255220068
},
{
"marker_id": 92,
"observed_center_px": [
1150.75,
909.25
],
"projected_center_px": [
1150.6259765625,
909.3167114257812
],
"reprojection_error_px": 0.14082694124024578,
"confidence": 0.5742052273811341
},
{
"marker_id": 217,
"observed_center_px": [
1282.75,
810.0
],
"projected_center_px": [
1283.03662109375,
810.23193359375
],
"reprojection_error_px": 0.36870698839625526,
"confidence": 0.4285406831584614
},
{
"marker_id": 85,
"observed_center_px": [
759.25,
883.5
],
"projected_center_px": [
759.3401489257812,
883.4680786132812
],
"reprojection_error_px": 0.09563369568076573,
"confidence": 0.5006042888224075
},
{
"marker_id": 105,
"observed_center_px": [
856.0,
871.75
],
"projected_center_px": [
856.2745971679688,
871.8949584960938
],
"reprojection_error_px": 0.3105101773633509,
"confidence": 0.5297556344596553
},
{
"marker_id": 206,
"observed_center_px": [
1375.0,
772.75
],
"projected_center_px": [
1374.8236083984375,
772.6101684570312
],
"reprojection_error_px": 0.22509299747172307,
"confidence": 0.21565926026494167
},
{
"marker_id": 47,
"observed_center_px": [
611.5,
775.5
],
"projected_center_px": [
611.7551879882812,
775.4501342773438
],
"reprojection_error_px": 0.26001442202128217,
"confidence": 0.3148186874091085
},
{
"marker_id": 54,
"observed_center_px": [
544.75,
793.5
],
"projected_center_px": [
544.843505859375,
793.4529418945312
],
"reprojection_error_px": 0.10467956356311997,
"confidence": 0.32604528713786163
},
{
"marker_id": 97,
"observed_center_px": [
463.25,
785.75
],
"projected_center_px": [
463.0019226074219,
785.6375732421875
],
"reprojection_error_px": 0.2723640368708609,
"confidence": 0.27616132626441153
},
{
"marker_id": 66,
"observed_center_px": [
372.5,
739.0
],
"projected_center_px": [
372.52490234375,
739.2656860351562
],
"reprojection_error_px": 0.26685051246211106,
"confidence": 0.20880323274886187
},
{
"marker_id": 96,
"observed_center_px": [
776.5,
747.75
],
"projected_center_px": [
776.285888671875,
747.5377807617188
],
"reprojection_error_px": 0.3014642033942428,
"confidence": 0.31584848462039483
},
{
"marker_id": 62,
"observed_center_px": [
830.75,
760.5
],
"projected_center_px": [
830.8865356445312,
760.2669067382812
],
"reprojection_error_px": 0.27013783682825615,
"confidence": 0.3575017044994602
},
{
"marker_id": 208,
"observed_center_px": [
875.25,
660.75
],
"projected_center_px": [
874.711669921875,
660.6205444335938
],
"reprojection_error_px": 0.5536768161009016,
"confidence": 0.25451422792961226
},
{
"marker_id": 55,
"observed_center_px": [
584.75,
736.0
],
"projected_center_px": [
584.478271484375,
735.7723999023438
],
"reprojection_error_px": 0.35445477942454157,
"confidence": 0.2684612168157516
},
{
"marker_id": 79,
"observed_center_px": [
749.5,
711.0
],
"projected_center_px": [
749.356689453125,
710.6843872070312
],
"reprojection_error_px": 0.34662565965483083,
"confidence": 0.25694325940045776
},
{
"marker_id": 95,
"observed_center_px": [
479.5,
696.25
],
"projected_center_px": [
479.3166198730469,
696.2832641601562
],
"reprojection_error_px": 0.1863726785562865,
"confidence": 0.1867925968462939
},
{
"marker_id": 103,
"observed_center_px": [
523.25,
638.0
],
"projected_center_px": [
523.520751953125,
638.0035400390625
],
"reprojection_error_px": 0.27077509486207596,
"confidence": 0.14764046114843485
},
{
"marker_id": 214,
"observed_center_px": [
965.25,
635.0
],
"projected_center_px": [
965.8482055664062,
635.2527465820312
],
"reprojection_error_px": 0.6494079876378961,
"confidence": 0.26145573023918267
},
{
"marker_id": 53,
"observed_center_px": [
1349.5,
659.0
],
"projected_center_px": [
1349.2769775390625,
659.0974731445312
],
"reprojection_error_px": 0.24339275253677678,
"confidence": 0.21339006924105708
},
{
"marker_id": 72,
"observed_center_px": [
1275.5,
647.5
],
"projected_center_px": [
1275.482421875,
647.6109619140625
],
"reprojection_error_px": 0.11234561340314654,
"confidence": 0.19184247964326936
},
{
"marker_id": 215,
"observed_center_px": [
770.25,
622.25
],
"projected_center_px": [
769.7776489257812,
622.1724853515625
],
"reprojection_error_px": 0.47866904854815534,
"confidence": 0.14268186854556272
},
{
"marker_id": 51,
"observed_center_px": [
595.0,
656.0
],
"projected_center_px": [
595.1279907226562,
656.1142578125
],
"reprojection_error_px": 0.1715706058838584,
"confidence": 0.19459516753849398
},
{
"marker_id": 211,
"observed_center_px": [
860.0,
599.75
],
"projected_center_px": [
859.6314086914062,
599.5791015625
],
"reprojection_error_px": 0.40628294169309453,
"confidence": 0.1506768697944017
},
{
"marker_id": 60,
"observed_center_px": [
1345.25,
620.0
],
"projected_center_px": [
1345.18017578125,
619.8761596679688
],
"reprojection_error_px": 0.1421683838328976,
"confidence": 0.14246549607185086
},
{
"marker_id": 69,
"observed_center_px": [
331.0,
630.0
],
"projected_center_px": [
331.4573974609375,
630.0693969726562
],
"reprojection_error_px": 0.462632010442343,
"confidence": 0.12893578900789202
},
{
"marker_id": 58,
"observed_center_px": [
442.25,
627.0
],
"projected_center_px": [
442.39105224609375,
627.1260986328125
],
"reprojection_error_px": 0.1891998977940356,
"confidence": 0.1295478737351265
},
{
"marker_id": 86,
"observed_center_px": [
1267.75,
594.5
],
"projected_center_px": [
1267.458984375,
594.646240234375
],
"reprojection_error_px": 0.32569356785818715,
"confidence": 0.16411854004724083
},
{
"marker_id": 82,
"observed_center_px": [
1118.75,
552.0
],
"projected_center_px": [
1119.2330322265625,
551.9917602539062
],
"reprojection_error_px": 0.483102499800628,
"confidence": 0.1343704007977513
}
]
},
"qa": {
"sanity_notes": []
}
}

2087
data/evaluations/Scene12/render_f_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

596
data/evaluations/Scene12/render_f_camera_pose.json Normal file
View File

@@ -0,0 +1,596 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:32Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "f",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 28,
"used_marker_ids": [
68,
62,
46,
208,
53,
54,
47,
96,
56,
97,
55,
72,
79,
84,
66,
95,
103,
73,
82,
210,
58,
69,
64,
52,
101,
81,
83,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.006755731890837703,
0.000304944250845784,
7.323845367954866e-05,
7.317477152161458e-05,
7.317474913716518e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.2069744284125745,
"residual_median_px": 0.1874770597503284,
"residual_max_px": 0.4051094550705274,
"sigma2_normalized": 5.997089180258551e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3164093792438507,
0.948622465133667,
0.0006941986503079534
],
[
0.9183136820793152,
-0.3061163127422333,
-0.25098371505737305
],
[
-0.237876296043396,
0.08005109429359436,
-0.967991054058075
]
],
"translation_m": [
0.12612494826316833,
-0.20019173622131348,
1.497531533241272
],
"rvec_rad": [
2.3749908194017593,
1.711610696443462,
-0.21744900872901518
]
},
"camera_in_world": {
"position_m": [
0.500158965587616,
-0.3008059561252594,
1.3992646932601929
],
"position_mm": [
500.1589660644531,
-300.80596923828125,
1399.2646484375
],
"orientation_deg": {
"roll": 175.27249145507812,
"pitch": 13.761231422424316,
"yaw": 70.98835754394531
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
9.29671002828522e-08,
5.520982696975476e-08,
-3.564061512067214e-10,
-9.132533585141687e-10,
3.5659197212959323e-10,
3.7215331808921906e-09
],
[
5.520982696975457e-08,
4.839814619565686e-08,
-1.197076611241349e-08,
1.5140128657801077e-09,
-1.9810468905974142e-10,
4.837976534081576e-09
],
[
-3.5640615120098366e-10,
-1.1970766112408687e-08,
4.5947711585254305e-07,
3.3820521560207062e-09,
-6.837079425711561e-09,
-8.587514215160825e-08
],
[
-9.132533585141162e-10,
1.514012865780136e-09,
3.382052156020531e-09,
9.851928404750455e-10,
-8.132572992055425e-11,
8.518179587341373e-10
],
[
3.565919721295614e-10,
-1.981046890598598e-10,
-6.837079425711668e-09,
-8.132572992056734e-11,
5.969048735738358e-10,
1.6813942289672771e-09
],
[
3.7215331808911678e-09,
4.837976534080719e-09,
-8.587514215160847e-08,
8.518179587341001e-10,
1.6813942289672356e-09,
2.712478036661316e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.01746977352889057,
0.01260483009246452,
0.038837795941657274
],
"tvec_std_m": [
3.1387781706820974e-05,
2.443163673546731e-05,
0.0001646960241372364
]
},
"camera_center_std_m": [
0.0006245488088510477,
0.0006217704040181737,
0.0002625947555261599
],
"camera_center_std_mm": [
0.6245488088510477,
0.6217704040181737,
0.2625947555261599
],
"orientation_std_deg": {
"roll": 0.026179677611457564,
"pitch": 0.023669734708667588,
"yaw": 0.005272709371422534
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
1390.25,
941.75
],
"projected_center_px": [
1390.18603515625,
941.5135498046875
],
"reprojection_error_px": 0.24494937456397253,
"confidence": 0.38560830398820567
},
{
"marker_id": 62,
"observed_center_px": [
844.5,
868.0
],
"projected_center_px": [
844.5735473632812,
868.0855102539062
],
"reprojection_error_px": 0.11278837780877737,
"confidence": 0.7633000221267091
},
{
"marker_id": 46,
"observed_center_px": [
1388.75,
884.25
],
"projected_center_px": [
1388.7379150390625,
884.0671997070312
],
"reprojection_error_px": 0.1831993269374146,
"confidence": 0.41353385692040123
},
{
"marker_id": 208,
"observed_center_px": [
935.5,
751.25
],
"projected_center_px": [
935.374755859375,
751.3952026367188
],
"reprojection_error_px": 0.19175479256324224,
"confidence": 0.7424533226417426
},
{
"marker_id": 53,
"observed_center_px": [
1395.25,
804.0
],
"projected_center_px": [
1395.369873046875,
804.1165161132812
],
"reprojection_error_px": 0.1671692316823435,
"confidence": 0.3126694345835915
},
{
"marker_id": 54,
"observed_center_px": [
608.0,
853.75
],
"projected_center_px": [
608.13916015625,
853.7831420898438
],
"reprojection_error_px": 0.1430522534136936,
"confidence": 0.7421751793130777
},
{
"marker_id": 47,
"observed_center_px": [
668.0,
836.75
],
"projected_center_px": [
668.1448974609375,
836.6394653320312
],
"reprojection_error_px": 0.1822448545476556,
"confidence": 0.7421751793130777
},
{
"marker_id": 96,
"observed_center_px": [
813.25,
826.0
],
"projected_center_px": [
813.1637573242188,
826.1403198242188
],
"reprojection_error_px": 0.16470413532965925,
"confidence": 0.7421751793130777
},
{
"marker_id": 56,
"observed_center_px": [
1346.0,
840.5
],
"projected_center_px": [
1345.7203369140625,
840.2069091796875
],
"reprojection_error_px": 0.4051094550705274,
"confidence": 0.7206062047849244
},
{
"marker_id": 97,
"observed_center_px": [
553.0,
816.0
],
"projected_center_px": [
553.0214233398438,
815.870361328125
],
"reprojection_error_px": 0.13139689773953844,
"confidence": 0.7493333333333333
},
{
"marker_id": 55,
"observed_center_px": [
674.0,
745.75
],
"projected_center_px": [
673.7264404296875,
745.6279907226562
],
"reprojection_error_px": 0.29953480977593194,
"confidence": 0.714264135428559
},
{
"marker_id": 72,
"observed_center_px": [
1347.25,
752.0
],
"projected_center_px": [
1347.3133544921875,
752.1029663085938
],
"reprojection_error_px": 0.12089603957847153,
"confidence": 0.6720101269988878
},
{
"marker_id": 79,
"observed_center_px": [
823.0,
737.75
],
"projected_center_px": [
822.9767456054688,
737.8599243164062
],
"reprojection_error_px": 0.11235711905525343,
"confidence": 0.7007874536280202
},
{
"marker_id": 84,
"observed_center_px": [
1410.75,
680.5
],
"projected_center_px": [
1410.9974365234375,
680.5765380859375
],
"reprojection_error_px": 0.2590036905717998,
"confidence": 0.09375509355389204
},
{
"marker_id": 66,
"observed_center_px": [
509.5,
692.75
],
"projected_center_px": [
509.4854431152344,
692.8970336914062
],
"reprojection_error_px": 0.14775252722924248,
"confidence": 0.6611197014534322
},
{
"marker_id": 95,
"observed_center_px": [
617.25,
624.0
],
"projected_center_px": [
617.0776977539062,
624.2393188476562
],
"reprojection_error_px": 0.29489248015584696,
"confidence": 0.6477291469727456
},
{
"marker_id": 103,
"observed_center_px": [
695.0,
487.75
],
"projected_center_px": [
695.0471801757812,
487.6961364746094
],
"reprojection_error_px": 0.07160480678178074,
"confidence": 0.6337670359070791
},
{
"marker_id": 73,
"observed_center_px": [
1404.0,
417.5
],
"projected_center_px": [
1403.9791259765625,
417.57012939453125
],
"reprojection_error_px": 0.07317005420108022,
"confidence": 0.18744910383322472
},
{
"marker_id": 82,
"observed_center_px": [
1358.25,
429.0
],
"projected_center_px": [
1358.4229736328125,
428.9125671386719
],
"reprojection_error_px": 0.19381533192288145,
"confidence": 0.6165792028347551
},
{
"marker_id": 210,
"observed_center_px": [
872.25,
304.25
],
"projected_center_px": [
872.233154296875,
304.1954650878906
],
"reprojection_error_px": 0.05707744171345533,
"confidence": 0.5950107118694543
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
432.5
],
"projected_center_px": [
633.0872802734375,
432.1778869628906
],
"reprojection_error_px": 0.3337284147434113,
"confidence": 0.6273000253365986
},
{
"marker_id": 69,
"observed_center_px": [
535.5,
406.25
],
"projected_center_px": [
535.624267578125,
406.27618408203125
],
"reprojection_error_px": 0.12699620909646164,
"confidence": 0.5831437313149622
},
{
"marker_id": 64,
"observed_center_px": [
642.0,
335.0
],
"projected_center_px": [
641.8160400390625,
334.9044494628906
],
"reprojection_error_px": 0.20729489229119125,
"confidence": 0.5891999992118755
},
{
"marker_id": 52,
"observed_center_px": [
1186.25,
315.5
],
"projected_center_px": [
1186.3646240234375,
315.6883239746094
],
"reprojection_error_px": 0.2204644782310136,
"confidence": 0.5951794442486946
},
{
"marker_id": 101,
"observed_center_px": [
1307.5,
307.5
],
"projected_center_px": [
1307.765625,
307.50732421875
],
"reprojection_error_px": 0.2657259580946089,
"confidence": 0.6113473409254715
},
{
"marker_id": 81,
"observed_center_px": [
1156.0,
375.5
],
"projected_center_px": [
1155.9227294921875,
375.6810607910156
],
"reprojection_error_px": 0.19685969983926485,
"confidence": 0.5565801112075812
},
{
"marker_id": 83,
"observed_center_px": [
1319.75,
207.0
],
"projected_center_px": [
1319.594970703125,
206.84852600097656
],
"reprojection_error_px": 0.21674513897596234,
"confidence": 0.5695343676313864
},
{
"marker_id": 61,
"observed_center_px": [
1282.5,
132.75
],
"projected_center_px": [
1282.389404296875,
132.9357452392578
],
"reprojection_error_px": 0.21617748138197732,
"confidence": 0.5346582638408491
}
]
},
"qa": {
"sanity_notes": []
}
}

2502
data/evaluations/Scene12/render_g_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

694
data/evaluations/Scene12/render_g_camera_pose.json Normal file
View File

@@ -0,0 +1,694 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T23:05:32Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2000.0,
540.0
],
[
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": 35,
"used_marker_ids": [
86,
84,
64,
53,
72,
58,
103,
56,
69,
46,
208,
68,
95,
96,
66,
62,
55,
217,
97,
47,
54,
205,
92,
105,
102,
85,
59,
63,
57,
71,
48,
65,
78,
87,
80
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.009061120638411843,
0.0006044048941477165,
8.982165014416299e-05,
8.973406625002514e-05,
8.973406440861801e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 0.2538049590236932,
"residual_median_px": 0.19470457894652796,
"residual_max_px": 0.4866358270009017,
"sigma2_normalized": 8.807096282336374e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7070697546005249,
-0.7071437835693359,
-0.00024968929938040674
],
[
-0.6417070627212524,
0.641788125038147,
-0.41990476846694946
],
[
0.29709330201148987,
-0.2967417240142822,
-0.9075681567192078
]
],
"translation_m": [
-0.0004838148888666183,
0.3319397568702698,
1.3889654874801636
],
"rvec_rad": [
1.116265343341294,
-2.694912859274303,
0.5930734640231006
]
},
"camera_in_world": {
"position_m": [
-0.19998633861541748,
0.1987868845462799,
1.3999638557434082
],
"position_mm": [
-199.98634338378906,
198.78688049316406,
1399.9638671875
],
"orientation_deg": {
"roll": -161.89413452148438,
"pitch": -17.28310203552246,
"yaw": -137.7744140625
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.072966780227661e-08,
-3.863558303066653e-08,
2.7165173743888813e-08,
2.475871606832266e-09,
6.494657404240794e-09,
2.5018749271701422e-08
],
[
-3.8635583030666105e-08,
1.0841759005730073e-07,
-8.433554454798182e-08,
-1.8245255309718038e-08,
-8.301231718958206e-09,
-5.805429386967001e-08
],
[
2.7165173743887748e-08,
-8.433554454797999e-08,
2.870139461052012e-07,
3.118965930711491e-08,
-1.5708375766982584e-08,
2.754085924381276e-09
],
[
2.475871606832118e-09,
-1.8245255309717823e-08,
3.118965930711502e-08,
6.200734152582455e-09,
-9.86864381554853e-10,
3.2956677202317245e-09
],
[
6.494657404240868e-09,
-8.301231718958475e-09,
-1.570837576698223e-08,
-9.86864381554794e-10,
4.123402270302718e-09,
9.0741836057339e-09
],
[
2.5018749271701356e-08,
-5.805429386967041e-08,
2.7540859243827077e-09,
3.295667720231913e-09,
9.07418360573378e-09,
5.699050770379069e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.010043881151978308,
0.01886568188783742,
0.03069545902598759
],
"tvec_std_m": [
7.874474047568164e-05,
6.421372337984084e-05,
0.0002387268474717301
]
},
"camera_center_std_m": [
0.00046817571615404496,
0.0006749440803154896,
0.00029697866790539726
],
"camera_center_std_mm": [
0.46817571615404496,
0.6749440803154896,
0.2969786679053973
],
"orientation_std_deg": {
"roll": 0.02728532771069972,
"pitch": 0.01864391492387676,
"yaw": 0.005971844462950307
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
74.0,
955.25
],
"projected_center_px": [
73.88146209716797,
955.2792358398438
],
"reprojection_error_px": 0.12209000261768153,
"confidence": 0.6483335065489111
},
{
"marker_id": 84,
"observed_center_px": [
73.5,
880.0
],
"projected_center_px": [
73.49522399902344,
879.8413696289062
],
"reprojection_error_px": 0.15870225209072794,
"confidence": 0.6193012733871159
},
{
"marker_id": 64,
"observed_center_px": [
921.75,
863.25
],
"projected_center_px": [
921.831787109375,
862.9029541015625
],
"reprojection_error_px": 0.35655292297527136,
"confidence": 0.6301648743824048
},
{
"marker_id": 53,
"observed_center_px": [
58.75,
764.0
],
"projected_center_px": [
58.729000091552734,
764.1621704101562
],
"reprojection_error_px": 0.1635244265699773,
"confidence": 0.40543359028432663
},
{
"marker_id": 72,
"observed_center_px": [
115.0,
789.0
],
"projected_center_px": [
115.19657897949219,
788.9808959960938
],
"reprojection_error_px": 0.19750508384201124,
"confidence": 0.5889608001281618
},
{
"marker_id": 58,
"observed_center_px": [
878.75,
769.25
],
"projected_center_px": [
878.4910888671875,
769.3904418945312
],
"reprojection_error_px": 0.29454863848569857,
"confidence": 0.6025285956069217
},
{
"marker_id": 103,
"observed_center_px": [
796.5,
746.5
],
"projected_center_px": [
796.6454467773438,
746.6806030273438
],
"reprojection_error_px": 0.23188837514073382,
"confidence": 0.6446676805363658
},
{
"marker_id": 56,
"observed_center_px": [
95.25,
714.0
],
"projected_center_px": [
95.13108825683594,
714.1541748046875
],
"reprojection_error_px": 0.19470457894652796,
"confidence": 0.5338277449622252
},
{
"marker_id": 69,
"observed_center_px": [
977.5,
751.0
],
"projected_center_px": [
977.4252319335938,
750.8006591796875
],
"reprojection_error_px": 0.21290144761600335,
"confidence": 0.5866976533295247
},
{
"marker_id": 46,
"observed_center_px": [
46.75,
695.0
],
"projected_center_px": [
46.68659973144531,
695.4581909179688
],
"reprojection_error_px": 0.4625564953190608,
"confidence": 0.25489120456317976
},
{
"marker_id": 208,
"observed_center_px": [
477.5,
605.25
],
"projected_center_px": [
477.3812255859375,
605.0993041992188
],
"reprojection_error_px": 0.1918764858157257,
"confidence": 0.5592585450018642
},
{
"marker_id": 68,
"observed_center_px": [
33.0,
650.75
],
"projected_center_px": [
32.95542526245117,
650.529052734375
],
"reprojection_error_px": 0.2253987608987929,
"confidence": 0.11177681049843842
},
{
"marker_id": 95,
"observed_center_px": [
799.25,
602.25
],
"projected_center_px": [
799.7071533203125,
602.0831909179688
],
"reprojection_error_px": 0.4866358270009017,
"confidence": 0.5169030981045668
},
{
"marker_id": 96,
"observed_center_px": [
555.5,
523.0
],
"projected_center_px": [
555.2626953125,
522.8138427734375
],
"reprojection_error_px": 0.30160906437127283,
"confidence": 0.5036491725121419
},
{
"marker_id": 66,
"observed_center_px": [
856.75,
509.0
],
"projected_center_px": [
856.4667358398438,
509.3004455566406
],
"reprojection_error_px": 0.4129238633623887,
"confidence": 0.5036491725121419
},
{
"marker_id": 62,
"observed_center_px": [
514.75,
504.0
],
"projected_center_px": [
514.6860961914062,
503.84112548828125
],
"reprojection_error_px": 0.1712448750376427,
"confidence": 0.5036491725121419
},
{
"marker_id": 55,
"observed_center_px": [
700.5,
531.0
],
"projected_center_px": [
700.4498901367188,
530.8845825195312
],
"reprojection_error_px": 0.12582604339253403,
"confidence": 0.5306273485801539
},
{
"marker_id": 217,
"observed_center_px": [
227.0,
362.0
],
"projected_center_px": [
227.07652282714844,
362.12518310546875
],
"reprojection_error_px": 0.14671929992195926,
"confidence": 0.42765819396972654
},
{
"marker_id": 97,
"observed_center_px": [
767.75,
437.0
],
"projected_center_px": [
768.004150390625,
437.28375244140625
],
"reprojection_error_px": 0.3809302679741365,
"confidence": 0.4770832099303063
},
{
"marker_id": 47,
"observed_center_px": [
668.5,
463.5
],
"projected_center_px": [
668.4751586914062,
463.31268310546875
],
"reprojection_error_px": 0.18895689876128194,
"confidence": 0.5046753915740128
},
{
"marker_id": 54,
"observed_center_px": [
709.25,
430.25
],
"projected_center_px": [
709.202392578125,
430.4231262207031
],
"reprojection_error_px": 0.17955265220132888,
"confidence": 0.48044802302553946
},
{
"marker_id": 205,
"observed_center_px": [
149.5,
287.0
],
"projected_center_px": [
149.6940155029297,
287.00897216796875
],
"reprojection_error_px": 0.1942228492611491,
"confidence": 0.37983708259950827
},
{
"marker_id": 92,
"observed_center_px": [
327.25,
312.0
],
"projected_center_px": [
327.41644287109375,
312.1011657714844
],
"reprojection_error_px": 0.19477613472383998,
"confidence": 0.4022491322386975
},
{
"marker_id": 105,
"observed_center_px": [
497.75,
340.75
],
"projected_center_px": [
497.6415710449219,
340.72918701171875
],
"reprojection_error_px": 0.11040841806913773,
"confidence": 0.4159799246492322
},
{
"marker_id": 102,
"observed_center_px": [
358.75,
281.0
],
"projected_center_px": [
358.7662353515625,
281.0223388671875
],
"reprojection_error_px": 0.0276154237262211,
"confidence": 0.40369943799637525
},
{
"marker_id": 85,
"observed_center_px": [
556.0,
321.25
],
"projected_center_px": [
555.6840209960938,
321.3298645019531
],
"reprojection_error_px": 0.32591574000315887,
"confidence": 0.3811333266788848
},
{
"marker_id": 59,
"observed_center_px": [
427.5,
258.0
],
"projected_center_px": [
427.41796875,
257.8740539550781
],
"reprojection_error_px": 0.15030479768798286,
"confidence": 0.40503361354029466
},
{
"marker_id": 63,
"observed_center_px": [
273.25,
182.0
],
"projected_center_px": [
273.1070556640625,
181.91488647460938
],
"reprojection_error_px": 0.1663652469148332,
"confidence": 0.3570061701664598
},
{
"marker_id": 57,
"observed_center_px": [
520.5,
214.0
],
"projected_center_px": [
520.9197998046875,
214.16876220703125
],
"reprojection_error_px": 0.4524517195654379,
"confidence": 0.3794817963241243
},
{
"marker_id": 71,
"observed_center_px": [
336.5,
168.0
],
"projected_center_px": [
336.720947265625,
168.0829620361328
],
"reprojection_error_px": 0.23600930834707853,
"confidence": 0.33715640885841447
},
{
"marker_id": 48,
"observed_center_px": [
415.75,
184.75
],
"projected_center_px": [
415.7911376953125,
184.7445068359375
],
"reprojection_error_px": 0.041502829145030895,
"confidence": 0.37002407289138056
},
{
"marker_id": 65,
"observed_center_px": [
308.25,
123.0
],
"projected_center_px": [
308.3800048828125,
122.93383026123047
],
"reprojection_error_px": 0.14587564527336241,
"confidence": 0.3320649522984733
},
{
"marker_id": 78,
"observed_center_px": [
334.75,
79.0
],
"projected_center_px": [
334.93670654296875,
78.97499084472656
],
"reprojection_error_px": 0.1883740720875158,
"confidence": 0.33383204999036237
},
{
"marker_id": 87,
"observed_center_px": [
161.25,
64.75
],
"projected_center_px": [
160.97647094726562,
64.78429412841797
],
"reprojection_error_px": 0.27567050972803137,
"confidence": 0.3255830489836334
},
{
"marker_id": 80,
"observed_center_px": [
298.0,
58.5
],
"projected_center_px": [
297.9054260253906,
58.236732482910156
],
"reprojection_error_px": 0.2797392039526564,
"confidence": 0.2761672244399736
}
]
},
"qa": {
"sanity_notes": []
}
}