Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
chk
397
data/evaluations/Scene12/render_d_camera_pose.json
Normal file
397
data/evaluations/Scene12/render_d_camera_pose.json
Normal 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": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user