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

573
data/evaluations/Scene4/render_a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T12:39:04Z",
"created_utc": "2026-06-01T21:50:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\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,
@@ -36,431 +36,526 @@
"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": 19,
"num_used_markers": 26,
"used_marker_ids": [
97,
95,
103,
54,
55,
47,
51,
210,
85,
79,
96,
215,
96,
105,
208,
211,
75,
102,
211,
214,
102,
92,
217,
61,
217,
83,
205,
206,
207,
93
72,
76
],
"history": {
"iters": [
0,
1,
2,
3,
4
3
],
"rms": [
0.01473918226411027,
0.002889152300309621,
0.002626417702410741,
0.0026263966147696115,
0.0026263965962117653
0.010157520500733036,
0.0004950425047159214,
9.349237301979008e-05,
9.347961702374584e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
0.000125
]
},
"residual_rms_px": 5.909619315053016,
"residual_median_px": 6.184463094061703,
"residual_max_px": 9.16749074252146,
"sigma2_normalized": 8.191326408063025e-06
"residual_rms_px": 0.26439655076136714,
"residual_median_px": 0.23255237350884186,
"residual_max_px": 0.4797609434534557,
"sigma2_normalized": 9.878235163700998e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8035048842430115,
-0.5952394008636475,
0.008362939581274986
0.8080592155456543,
-0.5891010761260986,
0.0004778678703587502
],
[
-0.4038265347480774,
-0.55533367395401,
-0.7269997596740723
-0.342823326587677,
-0.4709038734436035,
-0.812847912311554
],
[
0.43738311529159546,
0.5807706713676453,
-0.6865867972373962
0.4790745973587036,
0.6566653847694397,
-0.5824757814407349
]
],
"translation_m": [
-0.22716271877288818,
0.20623339712619781,
1.1431963443756104
-0.22885794937610626,
0.1706245094537735,
1.1345173120498657
],
"rvec_rad": [
2.2337074802470176,
-0.7327781306177164,
0.3269383452040311
2.1061047412557423,
-0.6859242732847866,
0.35296498238638263
]
},
"camera_in_world": {
"position_m": [
-0.23420590162277222,
-0.6846227645874023,
0.9367349147796631
-0.3000935912132263,
-0.7994710206985474,
0.7996299862861633
],
"position_mm": [
-234.20590209960938,
-684.6227416992188,
936.7349243164062
-300.0935974121094,
-799.4710083007812,
799.6300048828125
],
"orientation_deg": {
"roll": 139.7727508544922,
"pitch": -25.937030792236328,
"yaw": -26.683246612548828
"roll": 131.5736846923828,
"pitch": -28.62497901916504,
"yaw": -22.989336013793945
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
7.130135743921393e-05,
-1.9497809297890266e-05,
5.553485747098799e-06,
3.3388380189243494e-06,
7.482732472444817e-06,
1.4427759390289596e-05
4.460936285995379e-08,
-1.2193328957069284e-08,
-1.0519196887487442e-09,
1.997648035845089e-09,
4.072092927702889e-09,
1.3187830162713453e-08
],
[
-1.9497809297890052e-05,
2.116308915161797e-05,
-1.149359512766053e-05,
-4.187110137413571e-06,
-5.036049502883864e-06,
-7.906497529834733e-07
-1.2193328957069145e-08,
1.772270692240801e-08,
-2.5310680123153638e-09,
-2.0787648135128236e-09,
-4.5128208520239385e-09,
-3.023945390483963e-09
],
[
5.553485747098538e-06,
-1.1493595127660526e-05,
6.716730190368363e-05,
8.54976128124681e-06,
-5.258794621149629e-06,
-1.822790613298817e-05
-1.0519196887488166e-09,
-2.5310680123153133e-09,
4.738522245971935e-08,
3.8943842651842965e-09,
-5.755246755388928e-09,
-1.1826390387496366e-08
],
[
3.3388380189242876e-06,
-4.1871101374135705e-06,
8.549761281246818e-06,
2.285756121918658e-06,
2.7738521897052595e-07,
-5.715779736361504e-07
1.997648035845084e-09,
-2.0787648135128107e-09,
3.894384265184304e-09,
1.224768821437347e-09,
2.0094360221457148e-10,
9.216092163913507e-10
],
[
7.482732472444785e-06,
-5.036049502883867e-06,
-5.258794621149614e-06,
2.7738521897052976e-07,
3.157261084089943e-06,
4.38465083138282e-06
4.072092927702867e-09,
-4.512820852023921e-09,
-5.755246755388909e-09,
2.0094360221457363e-10,
2.801395956546726e-09,
4.29352678436664e-09
],
[
1.4427759390289604e-05,
-7.906497529834605e-07,
-1.822790613298818e-05,
-5.715779736361446e-07,
4.3846508313828205e-06,
2.2793312906006603e-05
1.3187830162713533e-08,
-3.023945390483856e-09,
-1.1826390387496323e-08,
9.216092163913399e-10,
4.293526784366608e-09,
2.1231713445959332e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.4838063134828943,
0.26357982368306593,
0.4695713419732603
0.012101400731594436,
0.007627595612267216,
0.012472229519515978
],
"tvec_std_m": [
0.001511871727997669,
0.0017768683361718007,
0.004774234274311076
3.499669729327822e-05,
5.2928215127158084e-05,
0.00014571106150858737
]
},
"camera_center_std_m": [
0.007410349739387958,
0.008933782062754672,
0.008788984882244421
0.0002005266948713801,
0.00021204259571441995,
0.0002597786782644062
],
"camera_center_std_mm": [
7.410349739387958,
8.933782062754673,
8.78898488224442
0.2005266948713801,
0.21204259571441994,
0.2597786782644062
],
"orientation_std_deg": {
"roll": 0.5983000230901394,
"pitch": 0.3541967561814082,
"yaw": 0.23800820264630432
"roll": 0.0124888599317547,
"pitch": 0.00959849976848799,
"yaw": 0.008166021539697536
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"marker_id": 97,
"observed_center_px": [
984.25,
690.75
1152.0,
1026.25
],
"projected_center_px": [
980.8847045898438,
682.2225341796875
1151.9522705078125,
1026.484375
],
"reprojection_error_px": 9.16749074252146,
"confidence": 0.12146268776527554
"reprojection_error_px": 0.23918558704377785,
"confidence": 0.4897720015297098
},
{
"marker_id": 95,
"observed_center_px": [
876.5,
1027.25
],
"projected_center_px": [
876.5068969726562,
1027.1715087890625
],
"reprojection_error_px": 0.07879364458036053,
"confidence": 0.5416450286820796
},
{
"marker_id": 103,
"observed_center_px": [
659.0,
994.75
],
"projected_center_px": [
659.0037231445312,
994.5722045898438
],
"reprojection_error_px": 0.17783438834440807,
"confidence": 0.8649082431225718
},
{
"marker_id": 54,
"observed_center_px": [
1162.25,
961.0
],
"projected_center_px": [
1161.908935546875,
961.3109130859375
],
"reprojection_error_px": 0.46151046379538846,
"confidence": 0.7960923757637975
},
{
"marker_id": 55,
"observed_center_px": [
998.75,
933.75
],
"projected_center_px": [
998.4373779296875,
933.5657958984375
],
"reprojection_error_px": 0.3628549433023085,
"confidence": 0.8637747711006405
},
{
"marker_id": 47,
"observed_center_px": [
1106.75,
912.25
],
"projected_center_px": [
1106.9661865234375,
912.1497802734375
],
"reprojection_error_px": 0.238286815640847,
"confidence": 0.743066266439157
},
{
"marker_id": 51,
"observed_center_px": [
734.25,
927.0
],
"projected_center_px": [
734.481689453125,
927.0477294921875
],
"reprojection_error_px": 0.2365546598861206,
"confidence": 0.8019389766111062
},
{
"marker_id": 210,
"observed_center_px": [
324.0,
632.0
364.75,
845.75
],
"projected_center_px": [
329.41302490234375,
635.0302124023438
364.6476135253906,
845.8784790039062
],
"reprojection_error_px": 6.203468851917566,
"confidence": 0.46829700346999537
"reprojection_error_px": 0.16428586253137667,
"confidence": 0.6228300628754091
},
{
"marker_id": 85,
"observed_center_px": [
1183.75,
610.25
1331.5,
821.5
],
"projected_center_px": [
1179.1107177734375,
604.7940673828125
1331.9102783203125,
821.6173095703125
],
"reprojection_error_px": 7.161713503135206,
"confidence": 0.4560525484643318
"reprojection_error_px": 0.4267198558836344,
"confidence": 0.601549080134278
},
{
"marker_id": 79,
"observed_center_px": [
814.0,
599.0
916.25,
809.0
],
"projected_center_px": [
814.2981567382812,
594.2095947265625
916.08984375,
808.7914428710938
],
"reprojection_error_px": 4.799675001951728,
"confidence": 0.5734281513866332
},
{
"marker_id": 96,
"observed_center_px": [
905.25,
587.25
],
"projected_center_px": [
904.3594360351562,
582.5528564453125
],
"reprojection_error_px": 4.78082228793547,
"confidence": 0.525542829627259
"reprojection_error_px": 0.26295646109514154,
"confidence": 0.711469799121534
},
{
"marker_id": 215,
"observed_center_px": [
678.75,
548.75
763.5,
752.5
],
"projected_center_px": [
680.4237670898438,
553.78759765625
763.8089599609375,
752.644287109375
],
"reprojection_error_px": 5.3083788878808855,
"confidence": 0.456911083882938
"reprojection_error_px": 0.34099124240117185,
"confidence": 0.6243438029309963
},
{
"marker_id": 96,
"observed_center_px": [
1018.5,
795.25
],
"projected_center_px": [
1018.3749389648438,
795.3609008789062
],
"reprojection_error_px": 0.16715043361155701,
"confidence": 0.6827978007642943
},
{
"marker_id": 105,
"observed_center_px": [
1150.25,
560.25
1294.0,
765.5
],
"projected_center_px": [
1147.0924072265625,
556.4566650390625
1293.876953125,
765.3689575195312
],
"reprojection_error_px": 4.935563012335617,
"confidence": 0.43622925667631085
"reprojection_error_px": 0.1797572394499547,
"confidence": 0.5445073073835709
},
{
"marker_id": 208,
"observed_center_px": [
793.0,
492.75
892.0,
689.25
],
"projected_center_px": [
793.8477172851562,
498.2724914550781
892.146484375,
689.2838134765625
],
"reprojection_error_px": 5.587176072665295,
"confidence": 0.4417935296159658
},
{
"marker_id": 211,
"observed_center_px": [
610.0,
487.75
],
"projected_center_px": [
611.00341796875,
493.10406494140625
],
"reprojection_error_px": 5.447279964973885,
"confidence": 0.3826078272694969
"reprojection_error_px": 0.1503363672448665,
"confidence": 0.5603213022372155
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
514.75
144.5,
713.75
],
"projected_center_px": [
128.1188201904297,
512.4112548828125
144.48695373535156,
713.787841796875
],
"reprojection_error_px": 2.3696047709254033,
"confidence": 0.29844141482805986
"reprojection_error_px": 0.04002757314659271,
"confidence": 0.38049126145778556
},
{
"marker_id": 102,
"marker_id": 211,
"observed_center_px": [
1217.75,
461.5
686.5,
683.25
],
"projected_center_px": [
1217.081298828125,
459.75506591796875
686.4108276367188,
683.295654296875
],
"reprojection_error_px": 1.8686776629213608,
"confidence": 0.2521714913889437
"reprojection_error_px": 0.10017996404627952,
"confidence": 0.49052671216614224
},
{
"marker_id": 214,
"observed_center_px": [
722.0,
435.5
812.25,
625.25
],
"projected_center_px": [
722.6962890625,
441.6451416015625
812.40625,
625.0691528320312
],
"reprojection_error_px": 6.184463094061703,
"confidence": 0.38467027802270787
"reprojection_error_px": 0.23899740722927787,
"confidence": 0.48503119569643854
},
{
"marker_id": 102,
"observed_center_px": [
1370.0,
654.5
],
"projected_center_px": [
1370.0548095703125,
654.1972045898438
],
"reprojection_error_px": 0.307716020722894,
"confidence": 0.38292413664728714
},
{
"marker_id": 92,
"observed_center_px": [
1173.25,
437.75
1319.75,
627.75
],
"projected_center_px": [
1173.2581787109375,
436.55615234375
1319.795654296875,
627.7449951171875
],
"reprojection_error_px": 1.193875670933208,
"confidence": 0.31777455864589965
},
{
"marker_id": 217,
"observed_center_px": [
1087.75,
347.0
],
"projected_center_px": [
1090.8243408203125,
352.91796875
],
"reprojection_error_px": 6.668877387193162,
"confidence": 0.3029173397022545
"reprojection_error_px": 0.045927809387314486,
"confidence": 0.39949701144177324
},
{
"marker_id": 61,
"observed_center_px": [
58.5,
415.5
66.0,
602.5
],
"projected_center_px": [
52.360286712646484,
414.1540222167969
65.94391632080078,
602.28125
],
"reprojection_error_px": 6.285517913726896,
"confidence": 0.1527342148240039
"reprojection_error_px": 0.22582502423894674,
"confidence": 0.2389002996853347
},
{
"marker_id": 217,
"observed_center_px": [
1224.0,
525.5
],
"projected_center_px": [
1223.9512939453125,
525.4711303710938
],
"reprojection_error_px": 0.05661921260849824,
"confidence": 0.3668959235531314
},
{
"marker_id": 83,
"observed_center_px": [
139.0,
383.0
156.25,
565.5
],
"projected_center_px": [
132.0175018310547,
381.62200927734375
156.2564239501953,
565.7272338867188
],
"reprojection_error_px": 7.117172128805888,
"confidence": 0.19743498130596515
"reprojection_error_px": 0.22732467180097624,
"confidence": 0.2637568632301829
},
{
"marker_id": 205,
"observed_center_px": [
1320.25,
478.25
],
"projected_center_px": [
1319.778564453125,
478.1610107421875
],
"reprojection_error_px": 0.4797609434534557,
"confidence": 0.32449684623408637
},
{
"marker_id": 206,
"observed_center_px": [
1013.0,
301.0
1139.75,
473.5
],
"projected_center_px": [
1016.5340576171875,
306.2687683105469
1140.0626220703125,
473.6487731933594
],
"reprojection_error_px": 6.3442480052267785,
"confidence": 0.2849187633475991
"reprojection_error_px": 0.34621672678947746,
"confidence": 0.35164169987391336
},
{
"marker_id": 207,
"marker_id": 72,
"observed_center_px": [
1098.0,
262.0
737.5,
473.25
],
"projected_center_px": [
1102.7847900390625,
266.5314636230469
737.459228515625,
473.0251159667969
],
"reprojection_error_px": 6.590021114147422,
"confidence": 0.24627951083020566
"reprojection_error_px": 0.22855008713156313,
"confidence": 0.2624849891322413
},
{
"marker_id": 93,
"marker_id": 76,
"observed_center_px": [
1104.25,
154.5
1005.25,
387.75
],
"projected_center_px": [
1111.04638671875,
150.36155700683594
1005.2974853515625,
388.0843505859375
],
"reprojection_error_px": 7.957234622560159,
"confidence": 0.15396639291733288
"reprojection_error_px": 0.33770574903273975,
"confidence": 0.2429182303832221
}
]
},