Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T12:39:07Z",
|
||||
"created_utc": "2026-06-01T21:50:57Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_g_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
@@ -9,14 +9,14 @@
|
||||
"camera_id": "g",
|
||||
"camera_matrix": [
|
||||
[
|
||||
1777.77783203125,
|
||||
2000.0,
|
||||
0.0,
|
||||
640.0
|
||||
720.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
1500.0,
|
||||
360.0
|
||||
2000.0,
|
||||
540.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
@@ -36,22 +36,23 @@
|
||||
"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": 25,
|
||||
"num_used_markers": 30,
|
||||
"used_marker_ids": [
|
||||
86,
|
||||
84,
|
||||
64,
|
||||
72,
|
||||
53,
|
||||
58,
|
||||
69,
|
||||
103,
|
||||
51,
|
||||
56,
|
||||
69,
|
||||
46,
|
||||
68,
|
||||
51,
|
||||
95,
|
||||
55,
|
||||
66,
|
||||
55,
|
||||
217,
|
||||
205,
|
||||
92,
|
||||
@@ -59,10 +60,14 @@
|
||||
85,
|
||||
102,
|
||||
59,
|
||||
48,
|
||||
57,
|
||||
63,
|
||||
71
|
||||
57,
|
||||
71,
|
||||
48,
|
||||
65,
|
||||
87,
|
||||
78,
|
||||
80
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
@@ -70,496 +75,546 @@
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9
|
||||
4
|
||||
],
|
||||
"rms": [
|
||||
0.023030589521672015,
|
||||
0.012255795972119383,
|
||||
0.00601464098630135,
|
||||
0.005432514484286471,
|
||||
0.004577528920257238,
|
||||
0.004564524337029251,
|
||||
0.004564283652395376,
|
||||
0.004564277220962207,
|
||||
0.00456427703032913,
|
||||
0.004564277024671735
|
||||
0.009126000226770589,
|
||||
0.000554436828218953,
|
||||
9.80022497670917e-05,
|
||||
9.790068968052301e-05,
|
||||
9.790068695929782e-05
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05,
|
||||
3.125e-05,
|
||||
1.5625e-05,
|
||||
7.8125e-06,
|
||||
3.90625e-06,
|
||||
1.953125e-06
|
||||
6.25e-05
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 10.340649355663759,
|
||||
"residual_median_px": 5.652926147503192,
|
||||
"residual_max_px": 21.451893892035727,
|
||||
"sigma2_normalized": 2.367343722326804e-05
|
||||
"residual_rms_px": 0.2769022269282445,
|
||||
"residual_median_px": 0.20220338296486912,
|
||||
"residual_max_px": 0.5720240152899726,
|
||||
"sigma2_normalized": 1.0649493896757492e-08
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
-0.6406000256538391,
|
||||
-0.7154264450073242,
|
||||
-0.27892038226127625
|
||||
-0.7071592211723328,
|
||||
-0.7070543169975281,
|
||||
0.0001950077567016706
|
||||
],
|
||||
[
|
||||
-0.6727864146232605,
|
||||
0.6980188488960266,
|
||||
-0.24521039426326752
|
||||
-0.6416893005371094,
|
||||
0.6416686177253723,
|
||||
-0.42011457681655884
|
||||
],
|
||||
[
|
||||
0.37012168765068054,
|
||||
0.0305720716714859,
|
||||
-0.9284800887107849
|
||||
0.29691869020462036,
|
||||
-0.29721301794052124,
|
||||
-0.9074710607528687
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
-0.0277637280523777,
|
||||
0.3579273521900177,
|
||||
1.254762887954712
|
||||
-0.0003962292685173452,
|
||||
0.33191484212875366,
|
||||
1.3889687061309814
|
||||
],
|
||||
"rvec_rad": [
|
||||
1.0854037697924936,
|
||||
-2.5544508096048895,
|
||||
0.16781953587776577
|
||||
1.116310578606113,
|
||||
-2.6951311303867653,
|
||||
0.5937083743690098
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
-0.24139173328876495,
|
||||
-0.3080636262893677,
|
||||
1.2450460195541382
|
||||
-0.19970476627349854,
|
||||
0.19956010580062866,
|
||||
1.3998912572860718
|
||||
],
|
||||
"position_mm": [
|
||||
-241.39173889160156,
|
||||
-308.0636291503906,
|
||||
1245.0460205078125
|
||||
-199.70477294921875,
|
||||
199.5601043701172,
|
||||
1399.8912353515625
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 178.11410522460938,
|
||||
"pitch": -21.723121643066406,
|
||||
"yaw": -133.59616088867188
|
||||
"roll": -161.86544799804688,
|
||||
"pitch": -17.272624969482422,
|
||||
"yaw": -137.77880859375
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
0.00014715744253698403,
|
||||
-0.0002269021684743242,
|
||||
1.910600960479605e-05,
|
||||
1.9879591342178448e-05,
|
||||
3.037764491289093e-05,
|
||||
0.00018579041978532742
|
||||
4.531406354310375e-08,
|
||||
-6.182081750784791e-08,
|
||||
5.238857005457936e-08,
|
||||
5.697496726215225e-09,
|
||||
9.675434076692272e-09,
|
||||
3.826892340509916e-08
|
||||
],
|
||||
[
|
||||
-0.00022690216847432557,
|
||||
0.0005191947568996934,
|
||||
-2.3117730376346336e-05,
|
||||
-6.77808240754173e-05,
|
||||
-5.443732109971677e-05,
|
||||
-0.00039572478632508986
|
||||
-6.182081750784806e-08,
|
||||
1.5910458083936492e-07,
|
||||
-1.359791454262542e-07,
|
||||
-2.6977064957262984e-08,
|
||||
-1.3462598870791013e-08,
|
||||
-8.566308189219412e-08
|
||||
],
|
||||
[
|
||||
1.910600960479573e-05,
|
||||
-2.311773037634631e-05,
|
||||
0.0004069468062699221,
|
||||
6.502886348792298e-06,
|
||||
-3.723703981711247e-05,
|
||||
-4.585103205736721e-05
|
||||
5.238857005457881e-08,
|
||||
-1.3597914542625506e-07,
|
||||
3.9512782835077723e-07,
|
||||
4.466772068442006e-08,
|
||||
-1.55607215539967e-08,
|
||||
1.9803973270653332e-08
|
||||
],
|
||||
[
|
||||
1.9879591342178723e-05,
|
||||
-6.77808240754175e-05,
|
||||
6.5028863487922046e-06,
|
||||
1.3457835793611215e-05,
|
||||
5.242809116612859e-06,
|
||||
4.297348846768029e-05
|
||||
5.6974967262152355e-09,
|
||||
-2.6977064957263126e-08,
|
||||
4.4667720684419784e-08,
|
||||
8.69623764877311e-09,
|
||||
-7.451859773673221e-10,
|
||||
6.085397072988099e-09
|
||||
],
|
||||
[
|
||||
3.0377644912891025e-05,
|
||||
-5.443732109971656e-05,
|
||||
-3.723703981711245e-05,
|
||||
5.242809116612799e-06,
|
||||
1.2684602222201783e-05,
|
||||
4.9832091829516965e-05
|
||||
9.675434076692323e-09,
|
||||
-1.3462598870790852e-08,
|
||||
-1.556072155399672e-08,
|
||||
-7.451859773673735e-10,
|
||||
5.580985348685259e-09,
|
||||
1.310687526195737e-08
|
||||
],
|
||||
[
|
||||
0.0001857904197853286,
|
||||
-0.00039572478632509013,
|
||||
-4.585103205736718e-05,
|
||||
4.297348846768017e-05,
|
||||
4.983209182951716e-05,
|
||||
0.0003591929271429726
|
||||
3.826892340509923e-08,
|
||||
-8.566308189219364e-08,
|
||||
1.9803973270652416e-08,
|
||||
6.085397072987891e-09,
|
||||
1.3106875261957455e-08,
|
||||
7.857577609491446e-08
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.6950463199038605,
|
||||
1.3055327819871538,
|
||||
1.1558233254870312
|
||||
0.012196610002133242,
|
||||
0.02285409215644813,
|
||||
0.03601566525799963
|
||||
],
|
||||
"tvec_std_m": [
|
||||
0.003668492305240835,
|
||||
0.0035615449207053087,
|
||||
0.018952385790263256
|
||||
9.325362003039405e-05,
|
||||
7.470599272270772e-05,
|
||||
0.0002803137101443924
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.026483390473741965,
|
||||
0.02127957916430013,
|
||||
0.025492920891508522
|
||||
0.0005595027683738259,
|
||||
0.0007992969684991664,
|
||||
0.0003270159145950284
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
26.483390473741967,
|
||||
21.279579164300127,
|
||||
25.492920891508522
|
||||
0.5595027683738258,
|
||||
0.7992969684991664,
|
||||
0.3270159145950284
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.9516284324337209,
|
||||
"pitch": 1.358312086068877,
|
||||
"yaw": 0.43714365173875086
|
||||
"roll": 0.03248054637914672,
|
||||
"pitch": 0.023147064378879877,
|
||||
"yaw": 0.004655245360248868
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 84,
|
||||
"marker_id": 86,
|
||||
"observed_center_px": [
|
||||
65.25,
|
||||
662.0
|
||||
74.0,
|
||||
955.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
64.14041900634766,
|
||||
642.3643798828125
|
||||
73.88755798339844,
|
||||
955.270751953125
|
||||
],
|
||||
"reprojection_error_px": 19.666945552575594,
|
||||
"confidence": 0.3490767193505014
|
||||
"reprojection_error_px": 0.11434094041911784,
|
||||
"confidence": 0.6483335065489111
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"observed_center_px": [
|
||||
73.5,
|
||||
880.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
73.49514770507812,
|
||||
879.827392578125
|
||||
],
|
||||
"reprojection_error_px": 0.1726756116315882,
|
||||
"confidence": 0.6193012733871159
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
819.5,
|
||||
647.0
|
||||
921.75,
|
||||
863.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
819.8731689453125,
|
||||
653.186279296875
|
||||
921.9016723632812,
|
||||
862.8864135742188
|
||||
],
|
||||
"reprojection_error_px": 6.197524231553265,
|
||||
"confidence": 0.5331747682067169
|
||||
"reprojection_error_px": 0.3939537977932233,
|
||||
"confidence": 0.6301648743824048
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
102.25,
|
||||
581.0
|
||||
115.0,
|
||||
789.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
98.2176742553711,
|
||||
570.6940307617188
|
||||
115.20006561279297,
|
||||
788.9625244140625
|
||||
],
|
||||
"reprojection_error_px": 11.066736323379015,
|
||||
"confidence": 0.43254677700170213
|
||||
"reprojection_error_px": 0.20354525040782712,
|
||||
"confidence": 0.5889608001281618
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
52.0,
|
||||
559.0
|
||||
59.0,
|
||||
764.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
53.92155075073242,
|
||||
549.85791015625
|
||||
58.71562576293945,
|
||||
764.1417236328125
|
||||
],
|
||||
"reprojection_error_px": 9.341850137892239,
|
||||
"confidence": 0.27711751756945874
|
||||
"reprojection_error_px": 0.31773305588392975,
|
||||
"confidence": 0.42405177609227646
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
781.0,
|
||||
564.0
|
||||
878.75,
|
||||
769.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
782.8363037109375,
|
||||
567.445068359375
|
||||
878.5499877929688,
|
||||
769.3863525390625
|
||||
],
|
||||
"reprojection_error_px": 3.9039092355701084,
|
||||
"confidence": 0.48073279309443956
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
869.0,
|
||||
547.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
885.756591796875,
|
||||
552.1148681640625
|
||||
],
|
||||
"reprojection_error_px": 17.380459626223242,
|
||||
"confidence": 0.45546210617301425
|
||||
"reprojection_error_px": 0.24206796126357202,
|
||||
"confidence": 0.6025285956069217
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
708.0,
|
||||
543.5
|
||||
796.5,
|
||||
746.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
702.8357543945312,
|
||||
545.546142578125
|
||||
796.7073974609375,
|
||||
746.677734375
|
||||
],
|
||||
"reprojection_error_px": 5.554829621475291,
|
||||
"confidence": 0.47991555158957017
|
||||
},
|
||||
{
|
||||
"marker_id": 51,
|
||||
"observed_center_px": [
|
||||
643.25,
|
||||
507.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
633.9746704101562,
|
||||
507.6633605957031
|
||||
],
|
||||
"reprojection_error_px": 9.284535851743536,
|
||||
"confidence": 0.4668259742313624
|
||||
"reprojection_error_px": 0.2731358908308508,
|
||||
"confidence": 0.6446676805363658
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
84.25,
|
||||
514.75
|
||||
95.25,
|
||||
714.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
83.29560852050781,
|
||||
509.8646240234375
|
||||
95.12326049804688,
|
||||
714.1329345703125
|
||||
],
|
||||
"reprojection_error_px": 4.977726542157703,
|
||||
"confidence": 0.39662908657084783
|
||||
"reprojection_error_px": 0.1836695438538877,
|
||||
"confidence": 0.5338277449622252
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
977.5,
|
||||
751.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
977.4688110351562,
|
||||
750.8015747070312
|
||||
],
|
||||
"reprojection_error_px": 0.20086151552191112,
|
||||
"confidence": 0.5866976533295247
|
||||
},
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
41.5,
|
||||
498.0
|
||||
46.75,
|
||||
695.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
45.22164535522461,
|
||||
494.36590576171875
|
||||
46.6645622253418,
|
||||
695.4346923828125
|
||||
],
|
||||
"reprojection_error_px": 5.201661761665582,
|
||||
"confidence": 0.1698001278724927
|
||||
"reprojection_error_px": 0.4430091206891286,
|
||||
"confidence": 0.25489120456317976
|
||||
},
|
||||
{
|
||||
"marker_id": 68,
|
||||
"observed_center_px": [
|
||||
29.25,
|
||||
458.0
|
||||
32.75,
|
||||
650.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
34.901763916015625,
|
||||
457.8853759765625
|
||||
32.926177978515625,
|
||||
650.503662109375
|
||||
],
|
||||
"reprojection_error_px": 5.652926147503192,
|
||||
"confidence": 0.07718187630567852
|
||||
"reprojection_error_px": 0.3028548108771371,
|
||||
"confidence": 0.10851782362904303
|
||||
},
|
||||
{
|
||||
"marker_id": 51,
|
||||
"observed_center_px": [
|
||||
723.75,
|
||||
705.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
723.4423217773438,
|
||||
705.4312133789062
|
||||
],
|
||||
"reprojection_error_px": 0.3152736714957405,
|
||||
"confidence": 0.5862493517171874
|
||||
},
|
||||
{
|
||||
"marker_id": 95,
|
||||
"observed_center_px": [
|
||||
710.75,
|
||||
415.25
|
||||
799.25,
|
||||
602.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
715.2578735351562,
|
||||
413.8760070800781
|
||||
799.7463989257812,
|
||||
602.10107421875
|
||||
],
|
||||
"reprojection_error_px": 4.712619266709072,
|
||||
"confidence": 0.4181682027393045
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
622.5,
|
||||
351.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
621.8703002929688,
|
||||
349.6007385253906
|
||||
],
|
||||
"reprojection_error_px": 2.000928751847656,
|
||||
"confidence": 0.3865263920875397
|
||||
"reprojection_error_px": 0.5182574474503013,
|
||||
"confidence": 0.5169030981045668
|
||||
},
|
||||
{
|
||||
"marker_id": 66,
|
||||
"observed_center_px": [
|
||||
761.5,
|
||||
332.5
|
||||
856.75,
|
||||
509.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
779.077880859375,
|
||||
326.5425109863281
|
||||
856.4856567382812,
|
||||
509.33837890625
|
||||
],
|
||||
"reprojection_error_px": 18.559999214827652,
|
||||
"confidence": 0.3829765144945479
|
||||
"reprojection_error_px": 0.4293921799602944,
|
||||
"confidence": 0.5036491725121419
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
700.5,
|
||||
531.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
700.4845581054688,
|
||||
530.9069213867188
|
||||
],
|
||||
"reprojection_error_px": 0.09435083654676697,
|
||||
"confidence": 0.5306273485801539
|
||||
},
|
||||
{
|
||||
"marker_id": 217,
|
||||
"observed_center_px": [
|
||||
201.75,
|
||||
202.0
|
||||
227.0,
|
||||
362.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
187.48928833007812,
|
||||
216.98789978027344
|
||||
227.08255004882812,
|
||||
362.1143798828125
|
||||
],
|
||||
"reprojection_error_px": 20.688282605285693,
|
||||
"confidence": 0.3382587531306593
|
||||
"reprojection_error_px": 0.1410576766919371,
|
||||
"confidence": 0.42765819396972654
|
||||
},
|
||||
{
|
||||
"marker_id": 205,
|
||||
"observed_center_px": [
|
||||
133.0,
|
||||
135.0
|
||||
149.5,
|
||||
287.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
123.97360229492188,
|
||||
154.46041870117188
|
||||
149.6797332763672,
|
||||
286.9947204589844
|
||||
],
|
||||
"reprojection_error_px": 21.451893892035727,
|
||||
"confidence": 0.29591817114314195
|
||||
"reprojection_error_px": 0.1798108010855284,
|
||||
"confidence": 0.37983708259950827
|
||||
},
|
||||
{
|
||||
"marker_id": 92,
|
||||
"observed_center_px": [
|
||||
291.0,
|
||||
157.0
|
||||
327.25,
|
||||
312.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
286.1947326660156,
|
||||
163.32550048828125
|
||||
327.41204833984375,
|
||||
312.1150817871094
|
||||
],
|
||||
"reprojection_error_px": 7.943711385637298,
|
||||
"confidence": 0.3158166687011719
|
||||
"reprojection_error_px": 0.19875482930083235,
|
||||
"confidence": 0.4022491322386975
|
||||
},
|
||||
{
|
||||
"marker_id": 105,
|
||||
"observed_center_px": [
|
||||
442.5,
|
||||
182.75
|
||||
497.75,
|
||||
340.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
438.8735046386719,
|
||||
181.65306091308594
|
||||
497.6519470214844,
|
||||
340.760009765625
|
||||
],
|
||||
"reprojection_error_px": 3.7887654936844886,
|
||||
"confidence": 0.31800273344664126
|
||||
"reprojection_error_px": 0.09856257912439716,
|
||||
"confidence": 0.4159799246492322
|
||||
},
|
||||
{
|
||||
"marker_id": 85,
|
||||
"observed_center_px": [
|
||||
494.0,
|
||||
166.0
|
||||
556.25,
|
||||
321.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
494.0581359863281,
|
||||
161.18260192871094
|
||||
555.6928100585938,
|
||||
321.3705749511719
|
||||
],
|
||||
"reprojection_error_px": 4.817748848805417,
|
||||
"confidence": 0.2969848480224609
|
||||
"reprojection_error_px": 0.5720240152899726,
|
||||
"confidence": 0.3947307115074338
|
||||
},
|
||||
{
|
||||
"marker_id": 102,
|
||||
"observed_center_px": [
|
||||
318.5,
|
||||
130.0
|
||||
358.75,
|
||||
281.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
314.92156982421875,
|
||||
133.93411254882812
|
||||
358.7615051269531,
|
||||
281.04388427734375
|
||||
],
|
||||
"reprojection_error_px": 5.318120351194466,
|
||||
"confidence": 0.3170967427530611
|
||||
"reprojection_error_px": 0.04536736430729355,
|
||||
"confidence": 0.40369943799637525
|
||||
},
|
||||
{
|
||||
"marker_id": 59,
|
||||
"observed_center_px": [
|
||||
379.75,
|
||||
109.0
|
||||
427.5,
|
||||
258.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
377.6261291503906,
|
||||
109.30519104003906
|
||||
427.4154357910156,
|
||||
257.9078674316406
|
||||
],
|
||||
"reprojection_error_px": 2.1456861272657224,
|
||||
"confidence": 0.3170967427530611
|
||||
},
|
||||
{
|
||||
"marker_id": 48,
|
||||
"observed_center_px": [
|
||||
369.5,
|
||||
44.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
369.7295837402344,
|
||||
42.7425651550293
|
||||
],
|
||||
"reprojection_error_px": 1.5248175319072943,
|
||||
"confidence": 0.17828567290874034
|
||||
},
|
||||
{
|
||||
"marker_id": 57,
|
||||
"observed_center_px": [
|
||||
463.0,
|
||||
70.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
466.1789245605469,
|
||||
63.351863861083984
|
||||
],
|
||||
"reprojection_error_px": 7.823133107785225,
|
||||
"confidence": 0.3167426670523156
|
||||
"reprojection_error_px": 0.12505804889589456,
|
||||
"confidence": 0.40503361354029466
|
||||
},
|
||||
{
|
||||
"marker_id": 63,
|
||||
"observed_center_px": [
|
||||
243.0,
|
||||
42.0
|
||||
273.25,
|
||||
182.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
242.20603942871094,
|
||||
49.316688537597656
|
||||
273.0831604003906,
|
||||
181.9365692138672
|
||||
],
|
||||
"reprojection_error_px": 7.359640245621696,
|
||||
"confidence": 0.15449597168691093
|
||||
"reprojection_error_px": 0.17849066257718682,
|
||||
"confidence": 0.3570061701664598
|
||||
},
|
||||
{
|
||||
"marker_id": 57,
|
||||
"observed_center_px": [
|
||||
520.5,
|
||||
214.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
520.9146728515625,
|
||||
214.22279357910156
|
||||
],
|
||||
"reprojection_error_px": 0.4707340573103452,
|
||||
"confidence": 0.3794817963241243
|
||||
},
|
||||
{
|
||||
"marker_id": 71,
|
||||
"observed_center_px": [
|
||||
299.25,
|
||||
29.5
|
||||
336.5,
|
||||
168.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
298.8309326171875,
|
||||
32.63352584838867
|
||||
336.7019958496094,
|
||||
168.1163787841797
|
||||
],
|
||||
"reprojection_error_px": 3.1614240009617918,
|
||||
"confidence": 0.08171792300897739
|
||||
"reprojection_error_px": 0.23312302474563837,
|
||||
"confidence": 0.33715640885841447
|
||||
},
|
||||
{
|
||||
"marker_id": 48,
|
||||
"observed_center_px": [
|
||||
415.75,
|
||||
184.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
415.7794494628906,
|
||||
184.78768920898438
|
||||
],
|
||||
"reprojection_error_px": 0.047830401821584066,
|
||||
"confidence": 0.37002407289138056
|
||||
},
|
||||
{
|
||||
"marker_id": 65,
|
||||
"observed_center_px": [
|
||||
308.25,
|
||||
123.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
308.3537292480469,
|
||||
122.96915435791016
|
||||
],
|
||||
"reprojection_error_px": 0.10821834657905684,
|
||||
"confidence": 0.3320649522984733
|
||||
},
|
||||
{
|
||||
"marker_id": 87,
|
||||
"observed_center_px": [
|
||||
161.0,
|
||||
65.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
160.92620849609375,
|
||||
64.80181884765625
|
||||
],
|
||||
"reprojection_error_px": 0.2114732966429633,
|
||||
"confidence": 0.33383204999036237
|
||||
},
|
||||
{
|
||||
"marker_id": 78,
|
||||
"observed_center_px": [
|
||||
334.75,
|
||||
79.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
334.90802001953125,
|
||||
79.02161407470703
|
||||
],
|
||||
"reprojection_error_px": 0.15949136276957998,
|
||||
"confidence": 0.33383204999036237
|
||||
},
|
||||
{
|
||||
"marker_id": 80,
|
||||
"observed_center_px": [
|
||||
298.0,
|
||||
58.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
297.8714294433594,
|
||||
58.279991149902344
|
||||
],
|
||||
"reprojection_error_px": 0.25482205979108863,
|
||||
"confidence": 0.2761672244399736
|
||||
}
|
||||
]
|
||||
},
|
||||
|
||||
Reference in New Issue
Block a user