Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
chk
649
data/evaluations/Scene12/render_e_camera_pose.json
Normal file
649
data/evaluations/Scene12/render_e_camera_pose.json
Normal 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": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user