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

2333
data/evaluations/Scene6/aruco_marker_poses.json Normal file
View File

File diff suppressed because it is too large Load Diff

1032
data/evaluations/Scene6/aruco_positions_initial.json
View File

File diff suppressed because it is too large Load Diff

1032
data/evaluations/Scene6/aruco_positions_optimized.json
View File

File diff suppressed because it is too large Load Diff

341
data/evaluations/Scene6/render_a_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:13Z",
"created_utc": "2026-06-01T20:35:43Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_a.png",
"image_sha256": "002759324533d7cc2e26b63445f1b66ccd0b6609b5b9beea65d67d25e3c98f21",
"image_sha256": "b03d7c96dbc48777a105a30921888bc93b0f8e34629585940358d2f171f7ce7e",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 29,
"num_rejected_candidates": 14
"num_detected_markers": 30,
"num_rejected_candidates": 15
},
"detections": [
{
"observation_id": "093d4a1c-0659-44fe-98b5-ae0473a4494c",
"observation_id": "62525388-3107-4bf5-aa14-dd503e019139",
"type": "aruco",
"marker_id": 219,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1886.5,
"perimeter_px": 173.90191650390625,
"sharpness": {
"laplacian_var": 2417.527530097097
"laplacian_var": 2417.5352700351773
},
"contrast": {
"p05": 35.0,
"p95": 194.0,
"dynamic_range": 159.0,
"mean_gray": 97.80804953560371,
"std_gray": 71.44403077044433
"mean_gray": 97.80727554179566,
"std_gray": 71.44470578159165
},
"geometry": {
"distance_to_center_norm": 0.42537909746170044,
@@ -100,7 +100,7 @@
"confidence": 0.7395976147580084
},
{
"observation_id": "f1cb9ec3-59e0-45d0-9e31-98715188a062",
"observation_id": "9ea3000e-592e-46ad-9fa7-8e72c999577a",
"type": "aruco",
"marker_id": 218,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1595.0,
"perimeter_px": 159.97390365600586,
"sharpness": {
"laplacian_var": 2395.9437851508915
"laplacian_var": 2399.179560185185
},
"contrast": {
"p05": 29.0,
"p95": 192.0,
"dynamic_range": 163.0,
"mean_gray": 86.18240740740741,
"std_gray": 72.04802324466404
"mean_gray": 86.17962962962963,
"std_gray": 72.05393525025549
},
"geometry": {
"distance_to_center_norm": 0.22131025791168213,
@@ -154,7 +154,7 @@
"confidence": 0.9199148952780339
},
{
"observation_id": "e62a8a5c-3877-4f54-a882-07ea284681db",
"observation_id": "353ca775-9971-49f9-9f70-bd1a6defb412",
"type": "aruco",
"marker_id": 114,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.7654670561742843
},
{
"observation_id": "beffde53-568d-4971-8440-54ea747951ed",
"observation_id": "4b9fefbc-dccc-4c00-973a-15bac6e51cd1",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 1385.5,
"perimeter_px": 150.88328170776367,
"sharpness": {
"laplacian_var": 2550.331719405216
"laplacian_var": 2551.7106553444123
},
"contrast": {
"p05": 17.0,
"p95": 187.0,
"dynamic_range": 170.0,
"mean_gray": 77.61672095548317,
"std_gray": 75.98821057265377
"std_gray": 75.98468117013398
},
"geometry": {
"distance_to_center_norm": 0.13106794655323029,
@@ -262,7 +262,7 @@
"confidence": 0.8622084291764343
},
{
"observation_id": "ec1f5fe3-06d4-46d1-93a4-cbae5d0295b3",
"observation_id": "c5799902-3340-42eb-91fe-6749ef7c1878",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 1222.0,
"perimeter_px": 144.33159637451172,
"sharpness": {
"laplacian_var": 2309.563780649863
"laplacian_var": 2309.8137806498626
},
"contrast": {
"p05": 21.0,
"p95": 183.0,
"dynamic_range": 162.0,
"mean_gray": 62.6400462962963,
"std_gray": 64.34158207047126
"mean_gray": 62.63773148148148,
"std_gray": 64.3486201788966
},
"geometry": {
"distance_to_center_norm": 0.18564613163471222,
@@ -316,7 +316,61 @@
"confidence": 0.7239659906759255
},
{
"observation_id": "c7f82e9a-3739-48be-ab32-7b94d9118ef2",
"observation_id": "34fd27c5-ea33-4032-b860-7ca07e68d31e",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
759.0,
402.0
],
[
762.0,
437.0
],
[
731.0,
452.0
],
[
727.0,
417.0
]
],
"center_px": [
744.75,
427.0
],
"quality": {
"area_px": 1155.0,
"perimeter_px": 140.13571166992188,
"sharpness": {
"laplacian_var": 3720.340037122882
},
"contrast": {
"p05": 17.0,
"p95": 184.0,
"dynamic_range": 167.0,
"mean_gray": 90.0375939849624,
"std_gray": 75.13028677039019
},
"geometry": {
"distance_to_center_norm": 0.1693369597196579,
"distance_to_border_px": 268.0
},
"edge_ratio": 1.026216222832411,
"edge_lengths_px": [
35.12833786010742,
34.438350677490234,
35.22782897949219,
35.34119415283203
]
},
"confidence": 0.7503292024313934
},
{
"observation_id": "1766ea06-efa2-4f8f-83fa-a022ba64798f",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -327,7 +381,7 @@
],
[
810.0,
414.0
415.0
],
[
779.0,
@@ -340,37 +394,37 @@
],
"center_px": [
793.25,
404.25
404.5
],
"quality": {
"area_px": 1088.5,
"perimeter_px": 136.7334327697754,
"area_px": 1102.5,
"perimeter_px": 137.30602645874023,
"sharpness": {
"laplacian_var": 3005.4513413983304
"laplacian_var": 3007.758277024331
},
"contrast": {
"p05": 16.0,
"p95": 182.0,
"dynamic_range": 166.0,
"mean_gray": 81.16910785619174,
"std_gray": 74.39824750687049
"mean_gray": 81.13715046604527,
"std_gray": 74.37812194883978
},
"geometry": {
"distance_to_center_norm": 0.21722736954689026,
"distance_to_center_norm": 0.21732206642627716,
"distance_to_border_px": 291.0
},
"edge_ratio": 1.058938221084239,
"edge_ratio": 1.0610902031465996,
"edge_lengths_px": [
34.13209533691406,
34.438350677490234,
35.12833786010742,
34.01470184326172,
35.05709457397461,
33.105892181396484
]
},
"confidence": 0.6852776226394603
"confidence": 0.6926838055995629
},
{
"observation_id": "55689434-4628-4089-88d3-8d1c4ff8a228",
"observation_id": "2017954a-f31c-4a85-87b4-640c69cb1123",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -400,14 +454,14 @@
"area_px": 1029.5,
"perimeter_px": 132.67654037475586,
"sharpness": {
"laplacian_var": 4016.5089942471727
"laplacian_var": 4016.018252330887
},
"contrast": {
"p05": 10.0,
"p95": 176.0,
"dynamic_range": 166.0,
"mean_gray": 69.4,
"std_gray": 72.23691849993463
"mean_gray": 69.37464788732395,
"std_gray": 72.21094240030942
},
"geometry": {
"distance_to_center_norm": 0.6501306891441345,
@@ -424,7 +478,7 @@
"confidence": 0.12146268776527554
},
{
"observation_id": "739525b1-9a7a-4373-86cd-69161c99bf92",
"observation_id": "68204adf-9785-4dcb-91ef-b6a31748d842",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -478,7 +532,7 @@
"confidence": 0.47917663082333867
},
{
"observation_id": "c9a7a5f5-7d82-44a5-be42-c8a634c8d646",
"observation_id": "8a458e99-f7c7-4c99-b733-4962986be1f6",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 895.0,
"perimeter_px": 125.45559501647949,
"sharpness": {
"laplacian_var": 3893.4417594426614
"laplacian_var": 3908.004835735264
},
"contrast": {
"p05": 9.0,
"p95": 172.0,
"dynamic_range": 163.0,
"mean_gray": 114.2793388429752,
"std_gray": 68.17573053714653
"mean_gray": 114.25289256198347,
"std_gray": 68.18410065801393
},
"geometry": {
"distance_to_center_norm": 0.8151581883430481,
@@ -532,7 +586,7 @@
"confidence": 0.4560525484643318
},
{
"observation_id": "f023b793-6d71-412a-8df0-096a9f2584d8",
"observation_id": "dcf64c7b-4477-48e4-b04a-a094f8d522d1",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -562,14 +616,14 @@
"area_px": 862.0,
"perimeter_px": 121.78662872314453,
"sharpness": {
"laplacian_var": 4460.145245949961
"laplacian_var": 4465.862386491175
},
"contrast": {
"p05": 13.0,
"p95": 176.0,
"dynamic_range": 163.0,
"mean_gray": 98.21717171717172,
"std_gray": 69.91176479425533
"mean_gray": 98.14478114478115,
"std_gray": 69.89898373588134
},
"geometry": {
"distance_to_center_norm": 0.402599573135376,
@@ -586,7 +640,7 @@
"confidence": 0.5734281513866332
},
{
"observation_id": "b50fc833-46c8-4076-a43d-d45747dec3be",
"observation_id": "6fba9952-513a-4115-8d79-93ad76a62900",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -616,14 +670,14 @@
"area_px": 834.0,
"perimeter_px": 120.57016181945801,
"sharpness": {
"laplacian_var": 3480.6856622008017
"laplacian_var": 3479.921487345328
},
"contrast": {
"p05": 11.0,
"p95": 174.0,
"dynamic_range": 163.0,
"mean_gray": 85.90989399293287,
"std_gray": 73.31278173492767
"mean_gray": 85.87632508833923,
"std_gray": 73.2955841442461
},
"geometry": {
"distance_to_center_norm": 0.47566938400268555,
@@ -640,7 +694,7 @@
"confidence": 0.525542829627259
},
{
"observation_id": "c6f70210-7228-449e-b914-632fc65951c4",
"observation_id": "c72c6dea-aa69-4dfb-a2bf-f9f2b4ef5693",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 822.5,
"perimeter_px": 120.13125228881836,
"sharpness": {
"laplacian_var": 3264.4448491373064
"laplacian_var": 3264.823744798533
},
"contrast": {
"p05": 8.0,
"p95": 166.0,
"dynamic_range": 158.0,
"mean_gray": 72.97845601436266,
"std_gray": 69.35724060907525
"mean_gray": 72.90125673249551,
"std_gray": 69.29298721671074
},
"geometry": {
"distance_to_center_norm": 0.26240772008895874,
@@ -694,7 +748,7 @@
"confidence": 0.456911083882938
},
{
"observation_id": "ff8ecdb5-410b-415c-8129-9d884dbbc92b",
"observation_id": "7fa2fe63-7b3c-48b8-9c90-14460dfaa99c",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 780.0,
"perimeter_px": 118.13776779174805,
"sharpness": {
"laplacian_var": 2269.673746384963
"laplacian_var": 2263.393171246023
},
"contrast": {
"p05": 11.0,
"p95": 172.0,
"dynamic_range": 161.0,
"mean_gray": 41.59730250481696,
"std_gray": 54.69119537977218
"mean_gray": 41.589595375722546,
"std_gray": 54.67750228298329
},
"geometry": {
"distance_to_center_norm": 0.47894710302352905,
@@ -748,7 +802,7 @@
"confidence": 0.5038606541951498
},
{
"observation_id": "90ca6a76-7ed5-4b5e-af7b-efe61dc0d8df",
"observation_id": "fa36bcf5-bb39-41f6-81b5-6aaa0ae366da",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 772.0,
"perimeter_px": 118.03386306762695,
"sharpness": {
"laplacian_var": 2200.9433708699958
"laplacian_var": 2194.7754319386977
},
"contrast": {
"p05": 9.0,
"p95": 169.0,
"dynamic_range": 160.0,
"mean_gray": 38.05534351145038,
"std_gray": 54.14444554058401
"mean_gray": 38.04389312977099,
"std_gray": 54.12436185929218
},
"geometry": {
"distance_to_center_norm": 0.7464743256568909,
@@ -802,7 +856,7 @@
"confidence": 0.43622925667631085
},
{
"observation_id": "61c64cf2-ddea-4981-92e3-eec579b53d2b",
"observation_id": "dc537cb6-00ab-440a-beca-280008856a05",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -832,14 +886,14 @@
"area_px": 735.0,
"perimeter_px": 114.19036865234375,
"sharpness": {
"laplacian_var": 2751.2709448278947
"laplacian_var": 2753.7530001043515
},
"contrast": {
"p05": 8.0,
"p95": 162.0,
"dynamic_range": 154.0,
"mean_gray": 64.43050193050193,
"std_gray": 64.43626940478461
"mean_gray": 64.33783783783784,
"std_gray": 64.3663482903625
},
"geometry": {
"distance_to_center_norm": 0.2758570611476898,
@@ -856,7 +910,7 @@
"confidence": 0.4417935296159658
},
{
"observation_id": "2e33479d-8294-4b79-9efc-7937aa98f0f6",
"observation_id": "39c72167-6477-48e9-8626-ce64a16f210b",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -886,14 +940,14 @@
"area_px": 722.5,
"perimeter_px": 112.32038497924805,
"sharpness": {
"laplacian_var": 3754.9401823350654
"laplacian_var": 3756.544142731105
},
"contrast": {
"p05": 10.0,
"p95": 173.0,
"dynamic_range": 163.0,
"mean_gray": 103.16237623762376,
"std_gray": 67.19760552588835
"mean_gray": 103.16039603960397,
"std_gray": 67.19906894570703
},
"geometry": {
"distance_to_center_norm": 0.7277610301971436,
@@ -910,7 +964,7 @@
"confidence": 0.29844141482805986
},
{
"observation_id": "5911b31b-af08-4fd4-b9e5-a6a29c67ed7b",
"observation_id": "7101cbcc-d400-4e9d-9738-bcaaefa84280",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -940,14 +994,14 @@
"area_px": 624.5,
"perimeter_px": 108.51360702514648,
"sharpness": {
"laplacian_var": 2972.6193514806637
"laplacian_var": 2972.1987698251824
},
"contrast": {
"p05": 9.0,
"p95": 167.0,
"dynamic_range": 158.0,
"mean_gray": 100.78747203579418,
"std_gray": 63.65892072262245
"mean_gray": 100.78523489932886,
"std_gray": 63.66237466148982
},
"geometry": {
"distance_to_center_norm": 0.7988508939743042,
@@ -964,7 +1018,7 @@
"confidence": 0.2521714913889437
},
{
"observation_id": "403d020a-78a3-4d05-b3ec-541bb9f5ad75",
"observation_id": "a6041a2f-b794-42df-ac39-6f5c30ded371",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -1018,7 +1072,7 @@
"confidence": 0.16306081184012358
},
{
"observation_id": "9fddb3ad-c97b-48ac-8618-5dcb7ed15102",
"observation_id": "526c9a0e-0193-4142-9bd9-95811539f917",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -1048,14 +1102,14 @@
"area_px": 580.0,
"perimeter_px": 104.17594909667969,
"sharpness": {
"laplacian_var": 2398.4570271840084
"laplacian_var": 2396.9549540223934
},
"contrast": {
"p05": 10.0,
"p95": 166.2,
"dynamic_range": 156.2,
"mean_gray": 64.19424460431655,
"std_gray": 62.6143704858226
"mean_gray": 64.18465227817745,
"std_gray": 62.61524208550065
},
"geometry": {
"distance_to_center_norm": 0.733877956867218,
@@ -1072,7 +1126,7 @@
"confidence": 0.31777455864589965
},
{
"observation_id": "032a9df6-b4e0-42c2-b772-b815b21d26d2",
"observation_id": "2e95cc8f-82f0-4725-ab8d-0a53ac2c6997",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -1102,14 +1156,14 @@
"area_px": 526.0,
"perimeter_px": 100.42813110351562,
"sharpness": {
"laplacian_var": 2713.7341529512855
"laplacian_var": 2713.1108467182235
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 70.99728997289972,
"std_gray": 60.6025972166517
"mean_gray": 70.99457994579946,
"std_gray": 60.59854992048763
},
"geometry": {
"distance_to_center_norm": 0.6100193858146667,
@@ -1126,7 +1180,7 @@
"confidence": 0.3029173397022545
},
{
"observation_id": "f6c5ed99-263d-428f-aacb-e542b6ab4c8f",
"observation_id": "212770a6-95b9-4cce-8c71-71239d7493f2",
"type": "aruco",
"marker_id": 61,
"marker_size_m": 0.025,
@@ -1156,14 +1210,14 @@
"area_px": 541.0,
"perimeter_px": 99.51516723632812,
"sharpness": {
"laplacian_var": 3865.1924138628747
"laplacian_var": 3865.1225213897565
},
"contrast": {
"p05": 9.55,
"p95": 168.0,
"dynamic_range": 158.45,
"mean_gray": 100.1747311827957,
"std_gray": 64.35443778452381
"mean_gray": 100.17204301075269,
"std_gray": 64.35162539924715
},
"geometry": {
"distance_to_center_norm": 0.7955067753791809,
@@ -1180,7 +1234,7 @@
"confidence": 0.1527342148240039
},
{
"observation_id": "d989d644-35f2-4e9e-924d-37f39c05df32",
"observation_id": "b874d1ca-593b-4213-a099-b24a18cb57f1",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
@@ -1234,7 +1288,7 @@
"confidence": 0.19743498130596515
},
{
"observation_id": "0238171d-608b-4b1b-a56b-185190f1ff1f",
"observation_id": "bb1226b3-837a-41fc-ba34-7f674db3c845",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -1264,14 +1318,14 @@
"area_px": 462.0,
"perimeter_px": 95.09099197387695,
"sharpness": {
"laplacian_var": 2293.334191235379
"laplacian_var": 2293.821533007531
},
"contrast": {
"p05": 11.0,
"p95": 161.0,
"dynamic_range": 150.0,
"mean_gray": 75.58544303797468,
"std_gray": 57.75851882584608
"mean_gray": 75.58227848101266,
"std_gray": 57.75978356382726
},
"geometry": {
"distance_to_center_norm": 0.5142804980278015,
@@ -1288,7 +1342,7 @@
"confidence": 0.2849187633475991
},
{
"observation_id": "0942097f-9610-4a9a-937d-d6f5692a9e58",
"observation_id": "8d0391e5-c78b-4154-8b4d-1ceb5f9b3be8",
"type": "aruco",
"marker_id": 207,
"marker_size_m": 0.025,
@@ -1342,7 +1396,7 @@
"confidence": 0.24627951083020566
},
{
"observation_id": "c76410ff-010e-43b6-9ef4-159d3a4a1987",
"observation_id": "1e74abc8-2898-4ae7-81cd-20052c25f005",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -1372,14 +1426,14 @@
"area_px": 418.5,
"perimeter_px": 89.27655792236328,
"sharpness": {
"laplacian_var": 2128.81850155028
"laplacian_var": 2129.6008144754496
},
"contrast": {
"p05": 9.0,
"p95": 149.0,
"dynamic_range": 140.0,
"mean_gray": 59.34013605442177,
"std_gray": 53.84514159560616
"std_gray": 53.85120550809765
},
"geometry": {
"distance_to_center_norm": 0.08364841341972351,
@@ -1396,7 +1450,7 @@
"confidence": 0.22592760282333144
},
{
"observation_id": "973b70a4-fcdd-43cd-86a6-bcce2e77ebc1",
"observation_id": "d97d10e4-a3eb-46ae-a011-32ca87288073",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -1426,14 +1480,14 @@
"area_px": 392.0,
"perimeter_px": 86.8602180480957,
"sharpness": {
"laplacian_var": 2317.0305818936736
"laplacian_var": 2317.567167259527
},
"contrast": {
"p05": 11.0,
"p95": 150.0,
"dynamic_range": 139.0,
"mean_gray": 84.00696864111498,
"std_gray": 49.561983367703114
"std_gray": 49.56142094625174
},
"geometry": {
"distance_to_center_norm": 0.13727600872516632,
@@ -1450,7 +1504,7 @@
"confidence": 0.19681943169996122
},
{
"observation_id": "a3bafd35-14d2-4168-8f32-4bd6147c52a4",
"observation_id": "1e70b9c1-3707-4352-bb60-34a4d728b1e5",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -1504,7 +1558,7 @@
"confidence": 0.1640007734958032
},
{
"observation_id": "3d283da5-8a87-4c94-9c35-199ff433008e",
"observation_id": "48a90089-6598-4dbc-a791-2bbac254c987",
"type": "aruco",
"marker_id": 60,
"marker_size_m": 0.025,
@@ -1534,14 +1588,14 @@
"area_px": 336.0,
"perimeter_px": 81.50533485412598,
"sharpness": {
"laplacian_var": 1625.659730872741
"laplacian_var": 1625.1656132256821
},
"contrast": {
"p05": 11.0,
"p95": 152.0,
"dynamic_range": 141.0,
"mean_gray": 104.24313725490197,
"std_gray": 49.473975154707475
"mean_gray": 104.23529411764706,
"std_gray": 49.48178045970571
},
"geometry": {
"distance_to_center_norm": 0.15743541717529297,
@@ -1558,7 +1612,7 @@
"confidence": 0.1646279680870627
},
{
"observation_id": "9b6aecd3-cdfd-41ec-921a-1f18078333ca",
"observation_id": "df725659-f331-4813-8abe-8d1441f9a67d",
"type": "aruco",
"marker_id": 93,
"marker_size_m": 0.025,
@@ -1688,6 +1742,31 @@
],
"area_px": 1714.0
},
{
"image_points_px": [
[
810.0,
420.0
],
[
791.0,
435.0
],
[
766.0,
447.0
],
[
778.0,
435.0
]
],
"center_px": [
786.25,
434.25
],
"area_px": 175.5
},
{
"image_points_px": [
[
@@ -1913,6 +1992,31 @@
],
"area_px": 98.0
},
{
"image_points_px": [
[
663.0,
479.0
],
[
684.0,
480.0
],
[
685.0,
484.0
],
[
679.0,
485.0
]
],
"center_px": [
677.75,
482.0
],
"area_px": 67.5
},
{
"image_points_px": [
[
@@ -1937,31 +2041,6 @@
539.25
],
"area_px": 90.5
},
{
"image_points_px": [
[
663.0,
479.0
],
[
675.0,
479.0
],
[
684.0,
484.0
],
[
678.0,
485.0
]
],
"center_px": [
675.0,
481.75
],
"area_px": 55.5
}
]
}

309
data/evaluations/Scene6/render_a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:16Z",
"created_utc": "2026-06-01T20:35:46Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -66,153 +66,150 @@
0,
1,
2,
3,
4
3
],
"rms": [
0.016537376944785378,
0.0026943984362748723,
0.0023518145939412155,
0.0023518021797274157,
0.00235180217815787
0.01275714255841635,
0.0009195852313749476,
9.296392877696256e-05,
9.288427247094949e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
0.000125
]
},
"residual_rms_px": 5.337175265397372,
"residual_median_px": 4.18957367267317,
"residual_max_px": 8.46323855204531,
"sigma2_normalized": 6.404285088108195e-06
"residual_rms_px": 0.23351908280308956,
"residual_median_px": 0.1973982073886377,
"residual_max_px": 0.5396109370533078,
"sigma2_normalized": 9.989723029588555e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8043902516365051,
-0.5940719842910767,
0.005899082403630018
0.8080092072486877,
-0.5891698598861694,
0.0001609772734809667
],
[
-0.40413588285446167,
-0.5544355511665344,
-0.7275131940841675
-0.3431817889213562,
-0.4708741307258606,
-0.8127138614654541
],
[
0.43546587228775024,
0.582820475101471,
-0.6860683560371399
0.47890231013298035,
0.6566250324249268,
-0.5826629996299744
]
],
"translation_m": [
-0.22707797586917877,
0.2073991745710373,
1.1453036069869995
-0.22887079417705536,
0.17079348862171173,
1.1346648931503296
],
"rvec_rad": [
2.232702643678502,
-0.7319470805689356,
0.3236357723933823
2.106201447307984,
-0.6862444946567156,
0.35260788953101574
]
},
"camera_in_world": {
"position_m": [
-0.23226389288902283,
-0.6874175667762756,
0.9379817843437195
-0.2998507022857666,
-0.7994709014892578,
0.7999703288078308
],
"position_mm": [
-232.26388549804688,
-687.4175415039062,
937.9818115234375
-299.8507080078125,
-799.4708862304688,
799.9703369140625
],
"orientation_deg": {
"roll": 139.65182495117188,
"pitch": -25.814939498901367,
"yaw": -26.675533294677734
"roll": 131.58456420898438,
"pitch": -28.613731384277344,
"yaw": -23.012149810791016
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.536543173512748e-05,
-1.108768723753887e-05,
1.281131353747492e-06,
2.0872539198728494e-06,
5.500336728089291e-06,
1.0507763910686328e-05
4.251941664971592e-08,
-1.2316995202762122e-08,
-7.058525440771418e-10,
2.0991854221985645e-09,
6.747309307502669e-09,
1.241943666288186e-08
],
[
-1.1087687237538928e-05,
1.4507736662543647e-05,
-6.033889254481834e-06,
-3.1773995441465213e-06,
-4.072319284901402e-06,
-2.214188579531818e-06
-1.2316995202761836e-08,
2.1256935270999697e-08,
-8.497430170922858e-09,
-4.6711603453694445e-09,
-5.616635605589636e-09,
-1.825854204858542e-09
],
[
1.2811313537477971e-06,
-6.0338892544820364e-06,
4.9051717538945546e-05,
6.75834789278531e-06,
-4.302597791351801e-06,
-1.134213881249018e-05
-7.058525440770025e-10,
-8.497430170922998e-09,
5.788878883751348e-08,
8.728771235655478e-09,
-5.9326431721624356e-09,
-1.3109611752241996e-08
],
[
2.0872539198728926e-06,
-3.177399544146546e-06,
6.758347892785268e-06,
1.8983406115436701e-06,
2.524898104988739e-07,
-1.3043365592355394e-07
2.0991854221985517e-09,
-4.67116034536948e-09,
8.72877123565545e-09,
2.7842511323587308e-09,
2.9569745192220984e-10,
2.8828981656234878e-11
],
[
5.5003367280892586e-06,
-4.072319284901373e-06,
-4.302597791351886e-06,
2.524898104988575e-07,
2.616057169560967e-06,
3.515818620921234e-06
6.7473093075025845e-09,
-5.616635605589646e-09,
-5.932643172162481e-09,
2.956974519221989e-10,
3.764696895656691e-09,
4.36291801931137e-09
],
[
1.0507763910686196e-05,
-2.214188579531762e-06,
-1.1342138812490402e-05,
-1.3043365592359282e-07,
3.515818620921238e-06,
1.6133450875050585e-05
1.2419436662882042e-08,
-1.8258542048587975e-09,
-1.3109611752241976e-08,
2.882898165627428e-11,
4.3629180193114515e-09,
2.334233923100002e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.34073136613905,
0.21823402585320298,
0.4012820576799228
0.011814525423244156,
0.008353586181361058,
0.013785415611807947
],
"tvec_std_m": [
0.0013778028202698926,
0.001617423002668432,
0.004016646720219565
5.2766003566299494e-05,
6.135712587513116e-05,
0.00015278199904111747
]
},
"camera_center_std_m": [
0.006461065760510807,
0.007270762603128843,
0.006880362305035057
0.00023584922690612488,
0.00022265250782780064,
0.0002641020394940323
],
"camera_center_std_mm": [
6.461065760510808,
7.270762603128843,
6.8803623050350575
0.2358492269061249,
0.22265250782780063,
0.26410203949403227
],
"orientation_std_deg": {
"roll": 0.4152030310153104,
"pitch": 0.3121914334621229,
"yaw": 0.2062439786864195
"roll": 0.014227054616135801,
"pitch": 0.010925964291866172,
"yaw": 0.008540144328997155
}
}
},
@@ -225,10 +222,10 @@
690.75
],
"projected_center_px": [
980.8228759765625,
683.0520629882812
983.9352416992188,
690.8216552734375
],
"reprojection_error_px": 8.426352313332966,
"reprojection_error_px": 0.32281150246250945,
"confidence": 0.12146268776527554
},
{
@@ -238,10 +235,10 @@
632.25
],
"projected_center_px": [
330.08648681640625,
636.0409545898438
324.15191650390625,
632.110595703125
],
"reprojection_error_px": 6.959591587179621,
"reprojection_error_px": 0.1704521346102354,
"confidence": 0.47917663082333867
},
{
@@ -251,10 +248,10 @@
610.25
],
"projected_center_px": [
1179.2388916015625,
605.6227416992188
1183.8724365234375,
610.2727661132812
],
"reprojection_error_px": 6.462322985165809,
"reprojection_error_px": 0.1245351283188651,
"confidence": 0.4560525484643318
},
{
@@ -264,10 +261,10 @@
599.0
],
"projected_center_px": [
814.4869384765625,
595.1512451171875
814.2734985351562,
598.9769897460938
],
"reprojection_error_px": 3.8794359419804922,
"reprojection_error_px": 0.2744647892124682,
"confidence": 0.5734281513866332
},
{
@@ -277,10 +274,10 @@
587.25
],
"projected_center_px": [
904.524169921875,
583.4768676757812
905.1864013671875,
587.0094604492188
],
"reprojection_error_px": 3.8423113926873924,
"reprojection_error_px": 0.2488052684041573,
"confidence": 0.525542829627259
},
{
@@ -290,10 +287,10 @@
548.75
],
"projected_center_px": [
680.6715087890625,
554.8125
678.9091186523438,
549.1141967773438
],
"reprojection_error_px": 6.359725015788374,
"reprojection_error_px": 0.3974393515384004,
"confidence": 0.456911083882938
},
{
@@ -303,10 +300,10 @@
557.5
],
"projected_center_px": [
930.4824829101562,
554.7822875976562
931.0737915039062,
557.449951171875
],
"reprojection_error_px": 2.7665474223539674,
"reprojection_error_px": 0.0891631720242831,
"confidence": 0.5038606541951498
},
{
@@ -316,10 +313,10 @@
560.25
],
"projected_center_px": [
1147.31005859375,
557.3142700195312
1150.06494140625,
560.271484375
],
"reprojection_error_px": 4.154728148797015,
"reprojection_error_px": 0.18630153378291914,
"confidence": 0.43622925667631085
},
{
@@ -329,10 +326,10 @@
492.75
],
"projected_center_px": [
794.1054077148438,
499.3099670410156
792.9732055664062,
492.7455139160156
],
"reprojection_error_px": 6.6524502099036695,
"reprojection_error_px": 0.027167381565486662,
"confidence": 0.4417935296159658
},
{
@@ -342,10 +339,10 @@
514.75
],
"projected_center_px": [
129.64649963378906,
513.7194213867188
128.4702606201172,
514.7130737304688
],
"reprojection_error_px": 1.5416075014189436,
"reprojection_error_px": 0.04741286847796445,
"confidence": 0.29844141482805986
},
{
@@ -355,10 +352,10 @@
461.5
],
"projected_center_px": [
1217.5404052734375,
460.6122741699219
1217.7757568359375,
461.40447998046875
],
"reprojection_error_px": 0.9121332681087261,
"reprojection_error_px": 0.098931737722339,
"confidence": 0.2521714913889437
},
{
@@ -368,10 +365,10 @@
437.75
],
"projected_center_px": [
1173.7421875,
437.4421691894531
1173.1005859375,
437.8978271484375
],
"reprojection_error_px": 0.5805241968068136,
"reprojection_error_px": 0.21018427126670675,
"confidence": 0.31777455864589965
},
{
@@ -381,10 +378,10 @@
347.0
],
"projected_center_px": [
1091.319091796875,
353.8850402832031
1087.8936767578125,
347.0003662109375
],
"reprojection_error_px": 7.755139970100487,
"reprojection_error_px": 0.14367722452066828,
"confidence": 0.3029173397022545
},
{
@@ -394,10 +391,10 @@
415.5
],
"projected_center_px": [
54.28005599975586,
415.69439697265625
58.643707275390625,
415.594970703125
],
"reprojection_error_px": 4.224419196549324,
"reprojection_error_px": 0.17225334670842776,
"confidence": 0.1527342148240039
},
{
@@ -407,10 +404,10 @@
383.0
],
"projected_center_px": [
133.76788330078125,
383.1772155761719
138.9038848876953,
383.07000732421875
],
"reprojection_error_px": 5.235117048804319,
"reprojection_error_px": 0.11890811687017784,
"confidence": 0.19743498130596515
},
{
@@ -420,10 +417,10 @@
301.0
],
"projected_center_px": [
1017.1212158203125,
307.30828857421875
1013.3244018554688,
300.9432373046875
],
"reprojection_error_px": 7.535179133452161,
"reprojection_error_px": 0.3293304835734273,
"confidence": 0.2849187633475991
},
{
@@ -433,10 +430,10 @@
262.0
],
"projected_center_px": [
1103.4730224609375,
267.5190124511719
1097.896728515625,
261.8188781738281
],
"reprojection_error_px": 7.772610455575177,
"reprojection_error_px": 0.20849488099435626,
"confidence": 0.24627951083020566
},
{
@@ -446,10 +443,10 @@
300.5
],
"projected_center_px": [
654.578369140625,
300.07696533203125
655.4712524414062,
300.485107421875
],
"reprojection_error_px": 0.7937545852265873,
"reprojection_error_px": 0.2217530872647218,
"confidence": 0.22592760282333144
},
{
@@ -459,10 +456,10 @@
279.75
],
"projected_center_px": [
576.87841796875,
278.87408447265625
579.1460571289062,
279.5862731933594
],
"reprojection_error_px": 2.2952861099141333,
"reprojection_error_px": 0.21940636298219232,
"confidence": 0.19681943169996122
},
{
@@ -472,10 +469,10 @@
279.0
],
"projected_center_px": [
510.3716125488281,
278.2803649902344
513.7109375,
279.0243225097656
],
"reprojection_error_px": 3.9445866410421058,
"reprojection_error_px": 0.5396109370533078,
"confidence": 0.1640007734958032
},
{
@@ -485,10 +482,10 @@
256.75
],
"projected_center_px": [
585.6249389648438,
255.65875244140625
588.0794067382812,
256.75555419921875
],
"reprojection_error_px": 2.6137590085649247,
"reprojection_error_px": 0.07960074882454622,
"confidence": 0.1646279680870627
},
{
@@ -498,10 +495,10 @@
154.5
],
"projected_center_px": [
1112.109619140625,
151.361083984375
1104.156005859375,
154.68991088867188
],
"reprojection_error_px": 8.46323855204531,
"reprojection_error_px": 0.21189866471493768,
"confidence": 0.15396639291733288
}
]

502
data/evaluations/Scene6/render_b_aruco_detection.json
View File

File diff suppressed because it is too large Load Diff

448
data/evaluations/Scene6/render_b_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:16Z",
"created_utc": "2026-06-01T20:35:47Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -45,8 +45,8 @@
92,
96,
103,
62,
51,
62,
79,
205,
215,
@@ -85,156 +85,150 @@
0,
1,
2,
3,
4,
5
3
],
"rms": [
0.01907936033299958,
0.004406018855345546,
0.004314518143428528,
0.0043140420811297,
0.0043140382857334795,
0.00431403825012993
0.010623293342208956,
0.0005870280237783236,
0.00010898394256279482,
0.00010896198307292367
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
0.000125
]
},
"residual_rms_px": 10.080855405402433,
"residual_median_px": 7.666178890375805,
"residual_max_px": 22.989046238103537,
"sigma2_normalized": 2.0080209653466036e-05
"residual_rms_px": 0.27394835050873745,
"residual_median_px": 0.19236918222000243,
"residual_max_px": 0.5502103863737645,
"sigma2_normalized": 1.2810033260525655e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9994917511940002,
-0.026252489537000656,
0.018084952607750893
0.9999205470085144,
-0.012592106126248837,
0.0005467122537083924
],
[
-0.015391695313155651,
-0.8942025303840637,
-0.447397917509079
-0.009473001584410667,
-0.779434084892273,
-0.626412570476532
],
[
0.02791691944003105,
0.4468921720981598,
-0.8941521644592285
0.00831397995352745,
0.6263576745986938,
-0.7794914841651917
]
],
"translation_m": [
-0.3116981089115143,
0.07265101373195648,
1.4731476306915283
-0.3113230764865875,
0.05271080136299133,
1.4960691928863525
],
"rvec_rad": [
2.6775953619293467,
-0.029437908142569788,
0.032518319778428346
2.464612535236655,
-0.0152807786980077,
0.006136306986122102
]
},
"camera_in_world": {
"position_m": [
0.2715321481227875,
-0.6015562415122986,
1.3553591966629028
0.29935938119888306,
-0.899910032749176,
1.1993621587753296
],
"position_mm": [
271.5321350097656,
-601.5562133789062,
1355.3592529296875
299.359375,
-899.9100341796875,
1199.3621826171875
],
"orientation_deg": {
"roll": 153.44436645507812,
"pitch": -1.5997294187545776,
"yaw": -0.8822578191757202
"roll": 141.21649169921875,
"pitch": -0.4763614237308502,
"yaw": -0.542789876461029
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00016364065602528252,
5.098548827170778e-07,
1.1900935061645774e-05,
2.8158531673113838e-06,
1.1158108687362259e-05,
3.889898471163244e-05
5.859333178352361e-08,
1.6409590751995044e-09,
4.993033141146096e-09,
1.4246445188239572e-09,
2.9878531986820576e-09,
1.678482000631567e-08
],
[
5.098548827166734e-07,
2.083062658698043e-05,
-9.743522701456504e-06,
-1.6455109457707553e-06,
-5.738682982601622e-06,
5.117189519786407e-06
1.6409590751995608e-09,
1.3339833584148581e-08,
-6.950930248783509e-09,
-9.49938892797979e-10,
-3.3338101573756905e-09,
4.7395777276541384e-09
],
[
1.190093506164585e-05,
-9.743522701456467e-06,
0.00027852916539602756,
1.7407658203829827e-05,
-1.8111648228385666e-05,
-0.0001005944203029666
4.993033141146533e-09,
-6.950930248783539e-09,
1.0073175556537798e-07,
6.08536769945356e-09,
-9.371169417907024e-09,
-3.866677188428025e-08
],
[
2.8158531673114037e-06,
-1.6455109457707644e-06,
1.740765820382987e-05,
2.5016906380061552e-06,
-5.99028587923605e-07,
-3.6314145857915654e-06
1.4246445188239829e-09,
-9.499388927979785e-10,
6.085367699453542e-09,
1.2980793993919242e-09,
-2.7922586983379355e-10,
-4.802009817580871e-10
],
[
1.1158108687362393e-05,
-5.738682982601601e-06,
-1.8111648228385645e-05,
-5.990285879236054e-07,
5.2401250758433446e-06,
9.890080877501274e-06
2.9878531986819902e-09,
-3.3338101573756884e-09,
-9.371169417907067e-09,
-2.7922586983379763e-10,
3.1518742549631593e-09,
4.698972703570579e-09
],
[
3.8898984711632404e-05,
5.117189519786469e-06,
-0.00010059442030296673,
-3.6314145857915882e-06,
9.890080877501263e-06,
7.368311319210127e-05
1.6784820006315445e-08,
4.739577727654154e-09,
-3.866677188428066e-08,
-4.802009817581161e-10,
4.698972703570608e-09,
3.945911227180047e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.7329396869592238,
0.26150126813165325,
0.9562203265072076
0.013869050495520457,
0.006617559247799968,
0.018184687152047838
],
"tvec_std_m": [
0.00158167336640855,
0.002289131948106824,
0.008583886834767877
3.60288689718665e-05,
5.614155550893793e-05,
0.00019864317826645965
]
},
"camera_center_std_m": [
0.018494655116044482,
0.016406970254027264,
0.011401835031899584
0.0003797010071419237,
0.0002576183168008245,
0.00025804709679664364
],
"camera_center_std_mm": [
18.49465511604448,
16.406970254027264,
11.401835031899584
0.3797010071419237,
0.2576183168008245,
0.2580470967966436
],
"orientation_std_deg": {
"roll": 0.7807745822738648,
"pitch": 0.6847469438114869,
"yaw": 0.22765856688225003
"roll": 0.014774206254405705,
"pitch": 0.01354452435157889,
"yaw": 0.00597797156491875
}
}
},
@@ -247,10 +241,10 @@
678.75
],
"projected_center_px": [
1232.3038330078125,
661.4005737304688
1245.954345703125,
678.5131225585938
],
"reprojection_error_px": 22.104017330788253,
"reprojection_error_px": 0.24123688994497097,
"confidence": 0.1539593300495616
},
{
@@ -260,10 +254,10 @@
665.5
],
"projected_center_px": [
1070.650390625,
650.5348510742188
1078.454833984375,
665.2412719726562
],
"reprojection_error_px": 16.78421118263827,
"reprojection_error_px": 0.32999568677200314,
"confidence": 0.39637168760361213
},
{
@@ -273,10 +267,10 @@
635.25
],
"projected_center_px": [
226.63784790039062,
629.1463012695312
220.43472290039062,
635.3508911132812
],
"reprojection_error_px": 8.656114315364338,
"reprojection_error_px": 0.12016703571505076,
"confidence": 0.4633649853376546
},
{
@@ -286,10 +280,10 @@
668.0
],
"projected_center_px": [
314.7558898925781,
658.7494506835938
307.2591247558594,
668.0712280273438
],
"reprojection_error_px": 11.912642265038038,
"reprojection_error_px": 0.07181011801114935,
"confidence": 0.3638956157928849
},
{
@@ -299,10 +293,10 @@
622.75
],
"projected_center_px": [
1058.6170654296875,
611.4583129882812
1064.598876953125,
622.5360717773438
],
"reprojection_error_px": 12.73228631193926,
"reprojection_error_px": 0.23567336783808543,
"confidence": 0.46896024883690896
},
{
@@ -312,10 +306,10 @@
628.0
],
"projected_center_px": [
717.73095703125,
618.9609375
716.9454345703125,
628.0897827148438
],
"reprojection_error_px": 9.092135479416541,
"reprojection_error_px": 0.21507116765839543,
"confidence": 0.44372569385651617
},
{
@@ -325,10 +319,23 @@
633.0
],
"projected_center_px": [
386.9942932128906,
625.8668212890625
381.99652099609375,
633.0381469726562
],
"reprojection_error_px": 8.707766833034595,
"reprojection_error_px": 0.03830528672411144,
"confidence": 0.45199802144368495
},
{
"marker_id": 51,
"observed_center_px": [
462.0,
615.0
],
"projected_center_px": [
461.8588562011719,
614.9529418945312
],
"reprojection_error_px": 0.14878184444999404,
"confidence": 0.45199802144368495
},
{
@@ -338,23 +345,10 @@
615.0
],
"projected_center_px": [
760.4144287109375,
606.6203002929688
760.3649291992188,
615.0770874023438
],
"reprojection_error_px": 8.38131278386627,
"confidence": 0.44348322079976393
},
{
"marker_id": 51,
"observed_center_px": [
461.75,
615.0
],
"projected_center_px": [
465.433349609375,
608.5264282226562
],
"reprojection_error_px": 7.448100153818052,
"reprojection_error_px": 0.13838781894794902,
"confidence": 0.44348322079976393
},
{
@@ -364,10 +358,10 @@
598.75
],
"projected_center_px": [
645.111572265625,
592.3778686523438
643.680908203125,
598.9118041992188
],
"reprojection_error_px": 6.515975517626095,
"reprojection_error_px": 0.17593827122100864,
"confidence": 0.41815762699787656
},
{
@@ -377,10 +371,10 @@
502.0
],
"projected_center_px": [
1178.4820556640625,
505.966796875
1180.7623291015625,
502.1131591796875
],
"reprojection_error_px": 4.698459441815956,
"reprojection_error_px": 0.26323460242079944,
"confidence": 0.3958181457519531
},
{
@@ -390,10 +384,10 @@
508.25
],
"projected_center_px": [
566.5778198242188,
515.4005737304688
565.746826171875,
508.3642578125
],
"reprojection_error_px": 7.173881823959046,
"reprojection_error_px": 0.2777621913881589,
"confidence": 0.39178239625208167
},
{
@@ -403,10 +397,10 @@
503.25
],
"projected_center_px": [
1057.043212890625,
507.83905029296875
1058.0423583984375,
503.3605041503906
],
"reprojection_error_px": 4.687731238463095,
"reprojection_error_px": 0.1183444175774416,
"confidence": 0.4015868133874269
},
{
@@ -416,10 +410,10 @@
507.0
],
"projected_center_px": [
689.9061279296875,
513.4992065429688
689.0335083007812,
507.11114501953125
],
"reprojection_error_px": 6.601236056828396,
"reprojection_error_px": 0.30451629181124884,
"confidence": 0.3776
},
{
@@ -429,10 +423,10 @@
441.75
],
"projected_center_px": [
286.5350036621094,
452.27691650390625
291.18206787109375,
441.39703369140625
],
"reprojection_error_px": 11.434691223535093,
"reprojection_error_px": 0.39715730471301763,
"confidence": 0.3320910299473707
},
{
@@ -442,10 +436,10 @@
427.5
],
"projected_center_px": [
686.1732177734375,
437.194580078125
686.1873168945312,
427.8978576660156
],
"reprojection_error_px": 9.694884135537363,
"reprojection_error_px": 0.4027653089810579,
"confidence": 0.3465862068965517
},
{
@@ -455,10 +449,10 @@
424.5
],
"projected_center_px": [
1044.501708984375,
432.10040283203125
1042.8323974609375,
424.40509033203125
],
"reprojection_error_px": 7.747338451552329,
"reprojection_error_px": 0.19260959522862617,
"confidence": 0.3579602826436361
},
{
@@ -468,10 +462,10 @@
423.25
],
"projected_center_px": [
1163.049072265625,
430.4150695800781
1161.4498291015625,
423.243408203125
],
"reprojection_error_px": 7.241462193912531,
"reprojection_error_px": 0.5502103863737645,
"confidence": 0.343462485354258
},
{
@@ -481,10 +475,10 @@
279.5
],
"projected_center_px": [
1260.712646484375,
281.3321533203125
1251.7921142578125,
279.641357421875
],
"reprojection_error_px": 9.147995288204497,
"reprojection_error_px": 0.14749756415020707,
"confidence": 0.05940673074575571
},
{
@@ -494,10 +488,10 @@
287.5
],
"projected_center_px": [
1051.468017578125,
289.45587158203125
1046.03466796875,
287.1544494628906
],
"reprojection_error_px": 5.807292818524085,
"reprojection_error_px": 0.3472852455170368,
"confidence": 0.2459421895345052
},
{
@@ -507,10 +501,10 @@
281.5
],
"projected_center_px": [
1181.1507568359375,
283.3349609375
1173.4224853515625,
281.4148254394531
],
"reprojection_error_px": 8.111044336136008,
"reprojection_error_px": 0.19236918222000243,
"confidence": 0.24407473894265982
},
{
@@ -520,10 +514,10 @@
271.5
],
"projected_center_px": [
255.00450134277344,
275.96136474609375
271.7715759277344,
271.4838562011719
],
"reprojection_error_px": 17.329613402406437,
"reprojection_error_px": 0.026947038764991275,
"confidence": 0.23896265492072474
},
{
@@ -533,10 +527,10 @@
285.25
],
"projected_center_px": [
927.12109375,
287.7731018066406
923.9616088867188,
285.106689453125
],
"reprojection_error_px": 4.013386216521187,
"reprojection_error_px": 0.1483637099313216,
"confidence": 0.24909137483284013
},
{
@@ -546,10 +540,10 @@
273.5
],
"projected_center_px": [
884.4531860351562,
276.1187438964844
882.02880859375,
273.3768005371094
],
"reprojection_error_px": 3.763646414853278,
"reprojection_error_px": 0.3048152548764432,
"confidence": 0.23734254719660833
},
{
@@ -559,10 +553,10 @@
273.5
],
"projected_center_px": [
304.3083190917969,
277.864501953125
319.1171569824219,
273.4973449707031
],
"reprojection_error_px": 15.566075473972035,
"reprojection_error_px": 0.13286954692415148,
"confidence": 0.23734254719660833
},
{
@@ -572,10 +566,10 @@
287.5
],
"projected_center_px": [
843.6806030273438,
290.3947448730469
842.3216552734375,
287.4755859375
],
"reprojection_error_px": 3.2289584856229214,
"reprojection_error_px": 0.07570022892407129,
"confidence": 0.236365170112023
},
{
@@ -585,10 +579,10 @@
251.25
],
"projected_center_px": [
922.2841796875,
254.2263946533203
918.6303100585938,
251.7627410888672
],
"reprojection_error_px": 4.620535812635948,
"reprojection_error_px": 0.526525503927911,
"confidence": 0.2211554500544793
},
{
@@ -598,10 +592,10 @@
267.25
],
"projected_center_px": [
777.474609375,
270.1112976074219
777.6246948242188,
267.1190490722656
],
"reprojection_error_px": 2.874519785038196,
"reprojection_error_px": 0.18124440005711479,
"confidence": 0.21841319450965294
},
{
@@ -611,10 +605,10 @@
228.0
],
"projected_center_px": [
1194.704345703125,
229.38653564453125
1184.0467529296875,
227.85888671875
],
"reprojection_error_px": 10.793771260572754,
"reprojection_error_px": 0.14865663315004118,
"confidence": 0.22417849731445313
},
{
@@ -624,10 +618,10 @@
252.25
],
"projected_center_px": [
826.2362670898438,
255.01295471191406
825.0505981445312,
252.29989624023438
],
"reprojection_error_px": 2.85937195336233,
"reprojection_error_px": 0.452163313956674,
"confidence": 0.22367025973033955
},
{
@@ -637,10 +631,10 @@
217.0
],
"projected_center_px": [
736.643798828125,
219.19264221191406
738.1185913085938,
216.86741638183594
],
"reprojection_error_px": 2.5781701821374234,
"reprojection_error_px": 0.1778828667394698,
"confidence": 0.21633306884765624
},
{
@@ -650,10 +644,10 @@
209.25
],
"projected_center_px": [
861.8567504882812,
211.0812530517578
859.283203125,
209.18191528320312
],
"reprojection_error_px": 3.1856923655191247,
"reprojection_error_px": 0.0757494301699775,
"confidence": 0.19627771759033205
},
{
@@ -663,10 +657,10 @@
197.5
],
"projected_center_px": [
764.3798217773438,
199.0445098876953
764.970703125,
197.24908447265625
],
"reprojection_error_px": 1.588251462998705,
"reprojection_error_px": 0.3341683277136805,
"confidence": 0.18913971961975098
},
{
@@ -676,10 +670,10 @@
192.0
],
"projected_center_px": [
686.4989013671875,
193.5018310546875
689.939208984375,
191.7187957763672
],
"reprojection_error_px": 4.040573903532959,
"reprojection_error_px": 0.4191263184078898,
"confidence": 0.18966921411877496
},
{
@@ -689,10 +683,10 @@
169.75
],
"projected_center_px": [
1116.514404296875,
170.68841552734375
1105.1724853515625,
170.2354278564453
],
"reprojection_error_px": 11.552581097480049,
"reprojection_error_px": 0.5151615283740918,
"confidence": 0.20782158780899712
},
{
@@ -702,10 +696,10 @@
183.5
],
"projected_center_px": [
943.5486450195312,
184.43507385253906
937.9847412109375,
183.3339385986328
],
"reprojection_error_px": 5.626884098901558,
"reprojection_error_px": 0.16676096565949722,
"confidence": 0.193995418548584
},
{
@@ -715,10 +709,10 @@
172.5
],
"projected_center_px": [
913.4927368164062,
173.48379516601562
908.732666015625,
172.64930725097656
],
"reprojection_error_px": 4.8436974965795505,
"reprojection_error_px": 0.15031008684879058,
"confidence": 0.1899538473288218
},
{
@@ -728,10 +722,10 @@
159.75
],
"projected_center_px": [
341.6620178222656,
160.82278442382812
361.0807800292969,
159.6303253173828
],
"reprojection_error_px": 19.367715950167707,
"reprojection_error_px": 0.1443864356258182,
"confidence": 0.17676838843571283
},
{
@@ -741,10 +735,10 @@
162.5
],
"projected_center_px": [
269.31732177734375,
164.10888671875
292.1806640625,
162.6880645751953
],
"reprojection_error_px": 22.989046238103537,
"reprojection_error_px": 0.20043891007585643,
"confidence": 0.1668050360320266
},
{
@@ -754,10 +748,10 @@
170.75
],
"projected_center_px": [
985.855712890625,
171.71095275878906
978.6314697265625,
171.03660583496094
],
"reprojection_error_px": 7.666178890375805,
"reprojection_error_px": 0.47713945227503946,
"confidence": 0.17612778902053833
},
{
@@ -767,10 +761,10 @@
161.75
],
"projected_center_px": [
1069.586181640625,
162.07484436035156
1059.367919921875,
161.81053161621094
],
"reprojection_error_px": 10.341284966890987,
"reprojection_error_px": 0.13254880058346186,
"confidence": 0.17612778902053833
}
]

236
data/evaluations/Scene6/render_c_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:14Z",
"created_utc": "2026-06-01T20:35:44Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_c.png",
"image_sha256": "bd9061ca0bb299c8cc4dbbacf755932129e71afadca80e83bc69b1d82010341f",
"image_sha256": "bf8f9443d037281f6cbb82a4fb7a418869c1df2ad2471821d274a86989be3bdd",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 8,
"num_detected_markers": 10,
"num_rejected_candidates": 15
},
"detections": [
{
"observation_id": "76aa9451-6c5b-40aa-8271-5fba9ae73616",
"observation_id": "4df12f05-e37d-4f91-8faf-5c68c6e0b59c",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3113.0,
"perimeter_px": 223.18805313110352,
"sharpness": {
"laplacian_var": 1357.5814223111759
"laplacian_var": 1356.8952324446793
},
"contrast": {
"p05": 27.0,
"p95": 182.0,
"dynamic_range": 155.0,
"mean_gray": 85.3320628870891,
"std_gray": 70.77017117568786
"mean_gray": 85.32539304430681,
"std_gray": 70.76798733009926
},
"geometry": {
"distance_to_center_norm": 0.20249538123607635,
@@ -100,7 +100,61 @@
"confidence": 0.9813847440404857
},
{
"observation_id": "698f3049-b790-4a1d-a2b2-879028232642",
"observation_id": "1876d996-9f00-4329-b9ba-27bfa1dbdf96",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
726.0,
371.0
],
[
725.0,
426.0
],
[
669.0,
424.0
],
[
670.0,
369.0
]
],
"center_px": [
697.5,
397.5
],
"quality": {
"area_px": 3082.0,
"perimeter_px": 222.08958435058594,
"sharpness": {
"laplacian_var": 1599.5550347669446
},
"contrast": {
"p05": 30.0,
"p95": 184.0,
"dynamic_range": 154.0,
"mean_gray": 94.36082971538832,
"std_gray": 71.08621814199468
},
"geometry": {
"distance_to_center_norm": 0.09348689764738083,
"distance_to_border_px": 294.0
},
"edge_ratio": 1.0186625759528076,
"edge_lengths_px": [
55.009090423583984,
56.035701751708984,
55.009090423583984,
56.035701751708984
]
},
"confidence": 0.9816793348520224
},
{
"observation_id": "70c4a2ba-4b4b-4548-b5ec-3d1c46dd5159",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -130,14 +184,14 @@
"area_px": 3029.0,
"perimeter_px": 220.14540100097656,
"sharpness": {
"laplacian_var": 1247.7039099278757
"laplacian_var": 1247.9087351371322
},
"contrast": {
"p05": 52.0,
"p95": 189.0,
"dynamic_range": 137.0,
"mean_gray": 97.52437223042836,
"std_gray": 60.606139601103095
"std_gray": 60.60609898075838
},
"geometry": {
"distance_to_center_norm": 0.0865650549530983,
@@ -154,7 +208,7 @@
"confidence": 1.0
},
{
"observation_id": "6ff5ba53-2412-4e80-abe8-4ece49a5a2ac",
"observation_id": "426c355a-ea01-4848-a28a-54be46bf39ec",
"type": "aruco",
"marker_id": 218,
"marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 2686.0,
"perimeter_px": 208.09695053100586,
"sharpness": {
"laplacian_var": 1464.142097937829
"laplacian_var": 1464.174724365235
},
"contrast": {
"p05": 42.0,
"p95": 192.0,
"dynamic_range": 150.0,
"mean_gray": 92.00217509516041,
"std_gray": 65.81428710231609
"mean_gray": 92.00380641653072,
"std_gray": 65.81432420827879
},
"geometry": {
"distance_to_center_norm": 0.3329910337924957,
@@ -208,7 +262,61 @@
"confidence": 0.8248000538812311
},
{
"observation_id": "31c1a5d5-dca6-428c-a41c-3ef476d7b09f",
"observation_id": "ad69984b-81c0-41e5-a84e-421dcd4e32b5",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
754.0,
436.0
],
[
810.0,
438.0
],
[
809.0,
469.0
],
[
755.0,
467.0
]
],
"center_px": [
782.0,
452.5
],
"quality": {
"area_px": 1705.0,
"perimeter_px": 172.10497665405273,
"sharpness": {
"laplacian_var": 1551.065621301775
},
"contrast": {
"p05": 22.0,
"p95": 146.0,
"dynamic_range": 124.0,
"mean_gray": 79.54700854700855,
"std_gray": 55.184228473793034
},
"geometry": {
"distance_to_center_norm": 0.23079116642475128,
"distance_to_border_px": 251.0
},
"edge_ratio": 1.8066635418810038,
"edge_lengths_px": [
56.035701751708984,
31.016124725341797,
54.037025451660156,
31.016124725341797
]
},
"confidence": 0.5535064923925195
},
{
"observation_id": "c20af898-ec55-4bce-b742-1172fdc774be",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -238,14 +346,14 @@
"area_px": 1070.0,
"perimeter_px": 143.36686897277832,
"sharpness": {
"laplacian_var": 2346.871262317882
"laplacian_var": 2333.161164228539
},
"contrast": {
"p05": 12.0,
"p95": 161.0,
"dynamic_range": 149.0,
"mean_gray": 62.09511228533685,
"std_gray": 62.823662883647366
"mean_gray": 62.00264200792602,
"std_gray": 62.75879045215222
},
"geometry": {
"distance_to_center_norm": 0.5515881180763245,
@@ -262,7 +370,7 @@
"confidence": 0.2964796698261984
},
{
"observation_id": "2617c219-b53a-48ef-be95-7028429ccbe4",
"observation_id": "2ff7655c-aed7-45e8-b3a7-fbad54275e7b",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
@@ -292,14 +400,14 @@
"area_px": 998.0,
"perimeter_px": 138.3699836730957,
"sharpness": {
"laplacian_var": 2121.2326647218424
"laplacian_var": 2109.6714246151473
},
"contrast": {
"p05": 12.0,
"p95": 165.0,
"dynamic_range": 153.0,
"mean_gray": 72.24098124098124,
"std_gray": 67.04406980491908
"mean_gray": 72.17316017316017,
"std_gray": 66.97682419672789
},
"geometry": {
"distance_to_center_norm": 0.3978361487388611,
@@ -316,7 +424,7 @@
"confidence": 0.2743742952602821
},
{
"observation_id": "602eef75-1dad-4ca8-821f-84bb32b64c18",
"observation_id": "5cb337f6-ce3a-4fac-8cad-ddb325a94a6f",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 819.5,
"perimeter_px": 126.28364562988281,
"sharpness": {
"laplacian_var": 1416.0191627572412
"laplacian_var": 1407.315787979266
},
"contrast": {
"p05": 14.0,
"p95": 139.89999999999998,
"dynamic_range": 125.89999999999998,
"mean_gray": 75.03907637655418,
"std_gray": 53.12746728688665
"p95": 139.0,
"dynamic_range": 125.0,
"mean_gray": 74.94671403197158,
"std_gray": 53.053182228965504
},
"geometry": {
"distance_to_center_norm": 0.48465821146965027,
@@ -370,7 +478,7 @@
"confidence": 0.21966133686197709
},
{
"observation_id": "df4241e5-0c1b-4d34-b4ff-4978aa4b4615",
"observation_id": "e8d8deac-4d88-4321-b4c2-55a50f2cf5ec",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 745.5,
"perimeter_px": 126.15118789672852,
"sharpness": {
"laplacian_var": 2617.828996875531
"laplacian_var": 2617.922106745177
},
"contrast": {
"p05": 22.0,
"p95": 178.0,
"dynamic_range": 156.0,
"mean_gray": 83.31843575418995,
"std_gray": 62.94818518166244
"mean_gray": 83.32029795158287,
"std_gray": 62.94641551928805
},
"geometry": {
"distance_to_center_norm": 0.5230682492256165,
@@ -424,7 +532,7 @@
"confidence": 0.233781757000696
},
{
"observation_id": "d755365c-e13e-4396-afa7-89df0301d71f",
"observation_id": "8664ea86-9e7d-439a-bdeb-429d9fdfab9c",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 782.5,
"perimeter_px": 124.42923355102539,
"sharpness": {
"laplacian_var": 1214.1609829472975
"laplacian_var": 1213.2964810462038
},
"contrast": {
"p05": 16.400000000000002,
"p05": 16.0,
"p95": 146.0,
"dynamic_range": 129.6,
"mean_gray": 68.52899824253076,
"std_gray": 53.0718545236712
"dynamic_range": 130.0,
"mean_gray": 68.4463971880492,
"std_gray": 52.98759040171933
},
"geometry": {
"distance_to_center_norm": 0.31812262535095215,
@@ -579,31 +687,6 @@
],
"area_px": 463.5
},
{
"image_points_px": [
[
711.0,
552.0
],
[
755.0,
553.0
],
[
756.0,
558.0
],
[
718.0,
557.0
]
],
"center_px": [
735.0,
555.0
],
"area_px": 201.0
},
{
"image_points_px": [
[
@@ -853,6 +936,31 @@
455.5
],
"area_px": 33.5
},
{
"image_points_px": [
[
678.0,
405.0
],
[
689.0,
407.0
],
[
688.0,
417.0
],
[
677.0,
417.0
]
],
"center_px": [
683.0,
411.5
],
"area_px": 122.0
}
]
}

204
data/evaluations/Scene6/render_c_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:17Z",
"created_utc": "2026-06-01T20:35:47Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -54,12 +54,12 @@
5
],
"rms": [
0.00457172056376259,
0.0004007988655781761,
0.0001417445617279961,
0.00013819420881295557,
0.00013818671534127612,
0.00013818671121091364
0.004190985828877521,
0.00028583005043141907,
9.289281541664095e-05,
9.05872534862762e-05,
9.058322697988786e-05,
9.058322513626083e-05
],
"lambda": [
0.001,
@@ -70,135 +70,135 @@
3.125e-05
]
},
"residual_rms_px": 0.33207999825248774,
"residual_median_px": 0.35037969191557206,
"residual_max_px": 0.4579046210411868,
"sigma2_normalized": 4.773891788784062e-08
"residual_rms_px": 0.22773222521491898,
"residual_median_px": 0.2641638792554766,
"residual_max_px": 0.2847829230016708,
"sigma2_normalized": 2.0513301690124312e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9937751889228821,
0.11140383034944534,
-0.00033484713640064
0.9936527013778687,
0.11248932778835297,
-0.0006914768018759787
],
[
0.03920517489314079,
-0.3525390625,
-0.9349755048751831
0.03264833241701126,
-0.29426416754722595,
-0.9551663398742676
],
[
-0.10427789390087128,
0.9291422963142395,
-0.35471218824386597
-0.10764949768781662,
0.9490810036659241,
-0.2960689663887024
]
],
"translation_m": [
-0.1977289766073227,
0.12576112151145935,
1.0029146671295166
-0.19775830209255219,
0.10630354285240173,
1.0039845705032349
],
"rvec_rad": [
1.93112480095096,
0.10767935618108943,
-0.07479388689590213
1.8691637353451385,
0.1049874380442544,
-0.07837001790137585
]
},
"camera_in_world": {
"position_m": [
0.29614949226379395,
-0.8654869794845581,
0.4732634127140045
0.3011108636856079,
-0.8993356823921204,
0.3986494839191437
],
"position_mm": [
296.1495056152344,
-865.4869995117188,
473.263427734375
301.1108703613281,
-899.335693359375,
398.64947509765625
],
"orientation_deg": {
"roll": 110.8949966430664,
"pitch": 5.985564231872559,
"yaw": 2.2591898441314697
"roll": 107.32547760009766,
"pitch": 6.179836750030518,
"yaw": 1.8818837404251099
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
8.650701546181118e-06,
-1.4300362394143149e-06,
3.241852486781931e-07,
-3.8261359778263076e-08,
-1.4218259209511637e-07,
3.1239545397407057e-07
3.3461047167309803e-06,
-5.647244282515457e-07,
2.9228558670851263e-08,
-1.4222169162243896e-08,
-6.068783652350135e-08,
1.1471040944298228e-07
],
[
-1.430036239413979e-06,
2.1923263392146404e-06,
-2.9486939460509208e-06,
1.3613279381430744e-07,
-9.181878829155968e-08,
-3.46643684353169e-08
-5.647244282515556e-07,
1.0239350484428861e-06,
-1.2494029407558493e-06,
6.288337407291908e-08,
-4.0838363468673234e-08,
-2.714783492843801e-08
],
[
3.24185248677353e-07,
-2.9486939460508564e-06,
8.05258806227672e-06,
-2.5866243915244943e-07,
-1.6580449252772927e-07,
2.380629356259459e-08
2.9228558670905172e-08,
-1.2494029407558417e-06,
2.980473991706558e-06,
-1.0665231214505454e-07,
-6.172610106425456e-08,
3.408445546472813e-08
],
[
-3.826135977823607e-08,
1.361327938143063e-07,
-2.58662439152452e-07,
1.9692258029561944e-08,
3.342634535551964e-09,
2.732955811434269e-08
-1.4222169162245704e-08,
6.288337407291875e-08,
-1.066523121450543e-07,
8.701861454251447e-09,
1.1492175488242024e-09,
1.086850451641314e-08
],
[
-1.4218259209510666e-07,
-9.18187882915488e-08,
-1.658044925277583e-07,
3.3426345355528607e-09,
6.138716493600708e-08,
8.038521416539434e-08
-6.068783652350527e-08,
-4.083836346867489e-08,
-6.172610106424971e-08,
1.1492175488240452e-09,
2.4844356739981226e-08,
2.903806030432224e-08
],
[
3.123954539740635e-07,
-3.466436843532243e-08,
2.3806293562608388e-08,
2.7329558114342263e-08,
8.038521416539451e-08,
5.597135914859203e-07
1.1471040944298001e-07,
-2.71478349284375e-08,
3.408445546472762e-08,
1.0868504516413193e-08,
2.903806030432231e-08,
2.424136076607778e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.16851877630655818,
0.08483503302098622,
0.1625887057112848
0.10480750837553916,
0.05797741352481921,
0.09891571637520065
],
"tvec_std_m": [
0.0001403291061382561,
0.0002477643334622784,
0.0007481400881425352
9.328376843937774e-05,
0.00015762092735414681,
0.0004923551641455361
]
},
"camera_center_std_m": [
0.002478390115746165,
0.0014539653798101254,
0.002511575922092966
0.0015048276741092177,
0.0008571037833773893,
0.0016523763611932423
],
"camera_center_std_mm": [
2.4783901157461647,
1.4539653798101253,
2.511575922092966
1.5048276741092177,
0.8571037833773893,
1.6523763611932423
],
"orientation_std_deg": {
"roll": 0.17613108669612543,
"pitch": 0.1448333486459573,
"yaw": 0.054457863810304
"roll": 0.1095393613935432,
"pitch": 0.09307105814213337,
"yaw": 0.033903304187893654
}
}
},
@@ -211,10 +211,10 @@
650.25
],
"projected_center_px": [
922.0996704101562,
650.4722900390625
922.3609619140625,
650.49853515625
],
"reprojection_error_px": 0.4579046210411868,
"reprojection_error_px": 0.2847829230016708,
"confidence": 0.2964796698261984
},
{
@@ -224,10 +224,10 @@
640.75
],
"projected_center_px": [
720.9915771484375,
640.4962158203125
720.8178100585938,
640.48095703125
],
"reprojection_error_px": 0.35037969191557206,
"reprojection_error_px": 0.2774568850836131,
"confidence": 0.2743742952602821
},
{
@@ -237,10 +237,10 @@
583.75
],
"projected_center_px": [
916.7447509765625,
583.706787109375
916.6747436523438,
583.7006225585938
],
"reprojection_error_px": 0.043530519905184195,
"reprojection_error_px": 0.09000916388005177,
"confidence": 0.21966133686197709
},
{
@@ -250,10 +250,10 @@
563.5
],
"projected_center_px": [
314.03302001953125,
563.6098022460938
314.14215087890625,
563.6082153320312
],
"reprojection_error_px": 0.24318068420713757,
"reprojection_error_px": 0.15278085942724642,
"confidence": 0.233781757000696
},
{
@@ -263,10 +263,10 @@
575.25
],
"projected_center_px": [
731.14599609375,
575.2168579101562
731.011474609375,
575.21240234375
],
"reprojection_error_px": 0.3973805536063258,
"reprojection_error_px": 0.2641638792554766,
"confidence": 0.19992181809841383
}
]

317
data/evaluations/Scene6/render_d_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:14Z",
"created_utc": "2026-06-01T20:35:44Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_d.png",
"image_sha256": "0b5a0dfe7e0c4ffc159cbfd7b15c3ced52bf3d5abe41aaa0f7854f178b45f72a",
"image_sha256": "efe726e85ad7f819acf3296179c2ca4a8bb7cf74f245467f995c9e4d63c12438",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 16,
"num_rejected_candidates": 7
"num_detected_markers": 18,
"num_rejected_candidates": 10
},
"detections": [
{
"observation_id": "67150b45-3ee1-40f1-8b08-545b556cc367",
"observation_id": "a5969c0d-f846-4da3-bc1e-35d8caa1d0bb",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 2445.0,
"perimeter_px": 198.87252807617188,
"sharpness": {
"laplacian_var": 1404.8030176198658
"laplacian_var": 1404.2101134758395
},
"contrast": {
"p05": 37.0,
"p95": 183.0,
"dynamic_range": 146.0,
"mean_gray": 93.26555760936537,
"std_gray": 66.23052286806983
"mean_gray": 93.27048675292667,
"std_gray": 66.23892160859089
},
"geometry": {
"distance_to_center_norm": 0.0953528881072998,
@@ -100,7 +100,61 @@
"confidence": 0.8642478508127981
},
{
"observation_id": "75026615-1432-4489-aa71-243a39cfb444",
"observation_id": "01db245b-318b-4ea6-8447-d0fdde58b911",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
645.0,
375.0
],
[
639.0,
427.0
],
[
597.0,
417.0
],
[
601.0,
366.0
]
],
"center_px": [
620.5,
396.25
],
"quality": {
"area_px": 2262.0,
"perimeter_px": 191.58671951293945,
"sharpness": {
"laplacian_var": 1958.6926095135714
},
"contrast": {
"p05": 38.0,
"p95": 184.0,
"dynamic_range": 146.0,
"mean_gray": 100.37704918032787,
"std_gray": 67.00077903496842
},
"geometry": {
"distance_to_center_norm": 0.05605596676468849,
"distance_to_border_px": 293.0
},
"edge_ratio": 1.212417901606864,
"edge_lengths_px": [
52.345008850097656,
43.17406463623047,
51.15662384033203,
44.9110221862793
]
},
"confidence": 0.8247981151339498
},
{
"observation_id": "dc3f0757-94be-43c4-bbe5-2dcb1c81eabf",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -130,14 +184,14 @@
"area_px": 2051.0,
"perimeter_px": 182.4236946105957,
"sharpness": {
"laplacian_var": 1749.6240679550556
"laplacian_var": 1749.7506682395506
},
"contrast": {
"p05": 63.0,
"p95": 189.0,
"dynamic_range": 126.0,
"mean_gray": 105.43527738264581,
"std_gray": 55.413713698779844
"std_gray": 55.414766162540914
},
"geometry": {
"distance_to_center_norm": 0.14550518989562988,
@@ -154,7 +208,61 @@
"confidence": 0.7701387647200616
},
{
"observation_id": "286e6975-8bff-4551-a09b-95729181b325",
"observation_id": "ea3135b5-dc2a-4354-be92-8ae1eb8a4a5e",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
662.0,
440.0
],
[
709.0,
451.0
],
[
725.0,
483.0
],
[
681.0,
473.0
]
],
"center_px": [
694.25,
461.75
],
"quality": {
"area_px": 1295.0,
"perimeter_px": 167.2480812072754,
"sharpness": {
"laplacian_var": 2127.1517032541324
},
"contrast": {
"p05": 29.0,
"p95": 146.0,
"dynamic_range": 117.0,
"mean_gray": 83.30681818181819,
"std_gray": 50.846640622594784
},
"geometry": {
"distance_to_center_norm": 0.1570318043231964,
"distance_to_border_px": 237.0
},
"edge_ratio": 1.3491895347663105,
"edge_lengths_px": [
48.27007293701172,
35.7770881652832,
45.12205505371094,
38.07886505126953
]
},
"confidence": 0.6398903275534737
},
{
"observation_id": "f9caa6c4-6006-45a4-9b4e-fc3b41c5d1c6",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
@@ -184,14 +292,14 @@
"area_px": 1361.0,
"perimeter_px": 159.77536392211914,
"sharpness": {
"laplacian_var": 379.8735775926424
"laplacian_var": 379.8002138015468
},
"contrast": {
"p05": 12.0,
"p95": 84.0,
"dynamic_range": 72.0,
"mean_gray": 44.40655737704918,
"std_gray": 31.85487516464167
"mean_gray": 44.39453551912568,
"std_gray": 31.853739735967757
},
"geometry": {
"distance_to_center_norm": 0.22406509518623352,
@@ -208,7 +316,7 @@
"confidence": 0.3953704947921731
},
{
"observation_id": "2dbe48f4-cdf2-45ba-bd61-d2b17f0e7fd8",
"observation_id": "0b7c8a2a-eae6-479a-b624-d1d00f3b934e",
"type": "aruco",
"marker_id": 218,
"marker_size_m": 0.025,
@@ -238,14 +346,14 @@
"area_px": 1320.0,
"perimeter_px": 157.36692237854004,
"sharpness": {
"laplacian_var": 2264.00088292445
"laplacian_var": 2263.0923791569576
},
"contrast": {
"p05": 30.0,
"p95": 190.0,
"dynamic_range": 160.0,
"mean_gray": 85.5156081808396,
"std_gray": 69.73749042831534
"mean_gray": 85.51776103336921,
"std_gray": 69.73640942666395
},
"geometry": {
"distance_to_center_norm": 0.2817760109901428,
@@ -262,7 +370,7 @@
"confidence": 0.3847059794494541
},
{
"observation_id": "c51ffcd2-6c88-4728-96a1-e76cc42edb44",
"observation_id": "b422d890-6fd5-4a08-8aaf-e4d57f9d5a78",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -292,14 +400,14 @@
"area_px": 1129.5,
"perimeter_px": 154.19791793823242,
"sharpness": {
"laplacian_var": 2764.468256248205
"laplacian_var": 2766.1451769453447
},
"contrast": {
"p05": 12.0,
"p95": 161.0,
"dynamic_range": 149.0,
"mean_gray": 64.4432855280313,
"std_gray": 63.495478007540726
"mean_gray": 64.36245110821382,
"std_gray": 63.46140342263292
},
"geometry": {
"distance_to_center_norm": 0.5690658688545227,
@@ -316,7 +424,7 @@
"confidence": 0.0702287153073083
},
{
"observation_id": "2f501ca7-4e03-4218-a9bc-bdff72331db3",
"observation_id": "03c9c77c-f121-4b00-8f76-4cdf59f81784",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 951.5,
"perimeter_px": 142.9928855895996,
"sharpness": {
"laplacian_var": 3355.152982860485
"laplacian_var": 3357.1471177578455
},
"contrast": {
"p05": 22.0,
"p95": 179.0,
"dynamic_range": 157.0,
"mean_gray": 112.00586510263929,
"std_gray": 69.16038116849727
"mean_gray": 111.99413489736071,
"std_gray": 69.15804900896693
},
"geometry": {
"distance_to_center_norm": 0.5738922953605652,
@@ -370,7 +478,7 @@
"confidence": 0.17416420855033052
},
{
"observation_id": "48debd98-c131-421d-a2aa-c5f4083bea63",
"observation_id": "5b9400db-df00-47c7-8232-f67330edf876",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 913.0,
"perimeter_px": 142.04078674316406,
"sharpness": {
"laplacian_var": 3794.1208066993704
"laplacian_var": 3799.11927060106
},
"contrast": {
"p05": 17.0,
"p95": 180.0,
"dynamic_range": 163.0,
"mean_gray": 76.74347158218126,
"std_gray": 69.44759165970896
"mean_gray": 76.73886328725038,
"std_gray": 69.44937714482873
},
"geometry": {
"distance_to_center_norm": 0.6794013381004333,
@@ -424,7 +532,7 @@
"confidence": 0.24540823915500745
},
{
"observation_id": "d449f309-d635-4950-a2de-5f895a79baf6",
"observation_id": "18403245-4b13-4aa0-ac7d-0c85eb80d922",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 933.5,
"perimeter_px": 141.37535285949707,
"sharpness": {
"laplacian_var": 2627.5441281146936
"laplacian_var": 2624.7171960148403
},
"contrast": {
"p05": 14.0,
"p95": 164.0,
"dynamic_range": 150.0,
"mean_gray": 72.6323751891074,
"std_gray": 64.73789429614287
"mean_gray": 72.57791225416037,
"std_gray": 64.70609963974314
},
"geometry": {
"distance_to_center_norm": 0.400749534368515,
@@ -478,7 +586,7 @@
"confidence": 0.43828628344822296
},
{
"observation_id": "e514b9bd-b88b-44d1-a607-dcebd7d723fe",
"observation_id": "90bfb7a0-1b83-4759-9ff5-0388f702f273",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
@@ -508,14 +616,14 @@
"area_px": 898.5,
"perimeter_px": 139.83118438720703,
"sharpness": {
"laplacian_var": 2222.1446382206177
"laplacian_var": 2220.0269255345047
},
"contrast": {
"p05": 18.0,
"p95": 140.0,
"dynamic_range": 122.0,
"mean_gray": 80.42038216560509,
"std_gray": 48.78062518546193
"mean_gray": 80.38694267515923,
"std_gray": 48.796323294751275
},
"geometry": {
"distance_to_center_norm": 0.5762108564376831,
@@ -532,7 +640,7 @@
"confidence": 0.32624039952470835
},
{
"observation_id": "651cf52c-3511-408a-b0f9-2e6e94e32342",
"observation_id": "68a8731f-f2d6-414c-bed1-7e5654b8ead5",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -562,14 +670,14 @@
"area_px": 741.5,
"perimeter_px": 133.26076126098633,
"sharpness": {
"laplacian_var": 3189.7607676047032
"laplacian_var": 3190.5921852292245
},
"contrast": {
"p05": 17.0,
"p95": 180.0,
"dynamic_range": 163.0,
"mean_gray": 81.04597701149426,
"std_gray": 69.24608923701152
"std_gray": 69.24658720931598
},
"geometry": {
"distance_to_center_norm": 0.6912909746170044,
@@ -586,7 +694,7 @@
"confidence": 0.4432762787121197
},
{
"observation_id": "c2c4286a-0495-4be6-a645-0b01d219c881",
"observation_id": "30834bba-17d2-426a-8f99-131f132725c3",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
@@ -616,14 +724,14 @@
"area_px": 756.0,
"perimeter_px": 131.0517463684082,
"sharpness": {
"laplacian_var": 1851.7402287841746
"laplacian_var": 1851.0914020502
},
"contrast": {
"p05": 21.0,
"p95": 146.0,
"dynamic_range": 125.0,
"mean_gray": 74.50474383301707,
"std_gray": 50.36869261468246
"mean_gray": 74.47817836812145,
"std_gray": 50.32926685899577
},
"geometry": {
"distance_to_center_norm": 0.3794279992580414,
@@ -640,7 +748,7 @@
"confidence": 0.3071912693949274
},
{
"observation_id": "ff2d91da-6639-470d-a8d0-7fc679a135d2",
"observation_id": "7ac186c2-2456-4dea-98ad-c32a8159e8ff",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -670,14 +778,14 @@
"area_px": 654.0,
"perimeter_px": 121.33883094787598,
"sharpness": {
"laplacian_var": 2064.770656960727
"laplacian_var": 2066.569893824529
},
"contrast": {
"p05": 12.0,
"p95": 150.0,
"dynamic_range": 138.0,
"mean_gray": 57.12107623318386,
"std_gray": 55.18910543289299
"mean_gray": 57.100896860986545,
"std_gray": 55.204277382718324
},
"geometry": {
"distance_to_center_norm": 0.8897008299827576,
@@ -694,7 +802,7 @@
"confidence": 0.013710388560625888
},
{
"observation_id": "16f1e228-c63f-4dd4-92e3-0701e343581b",
"observation_id": "605d3b0a-840b-406f-8dcd-e755c3720332",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -724,14 +832,14 @@
"area_px": 499.5,
"perimeter_px": 114.44196128845215,
"sharpness": {
"laplacian_var": 3984.526730818725
"laplacian_var": 3987.30575652721
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 86.87700534759358,
"std_gray": 60.54176845724324
"mean_gray": 86.87433155080214,
"std_gray": 60.542535840048444
},
"geometry": {
"distance_to_center_norm": 0.31828293204307556,
@@ -748,7 +856,7 @@
"confidence": 0.2483175954884472
},
{
"observation_id": "4ac47f1f-99f2-41c4-8295-366b7cdaa0eb",
"observation_id": "8b5677af-4cc7-4c99-bf51-8cd7a24711ea",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -778,14 +886,14 @@
"area_px": 492.0,
"perimeter_px": 109.91808319091797,
"sharpness": {
"laplacian_var": 2342.2512679628067
"laplacian_var": 2344.331142072213
},
"contrast": {
"p05": 13.0,
"p95": 149.0,
"dynamic_range": 136.0,
"mean_gray": 81.22802197802197,
"std_gray": 52.7520655857186
"mean_gray": 81.22527472527473,
"std_gray": 52.757623465388725
},
"geometry": {
"distance_to_center_norm": 0.8394785523414612,
@@ -802,7 +910,7 @@
"confidence": 0.0693300182738561
},
{
"observation_id": "15e28cda-39f4-4db8-9675-d5bba3a8b39c",
"observation_id": "db5dc349-3a24-462f-b5ca-192ea3f4349d",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 481.0,
"perimeter_px": 104.36293029785156,
"sharpness": {
"laplacian_var": 2092.751728424429
"laplacian_var": 2093.2543642237247
},
"contrast": {
"p05": 13.0,
"p95": 148.0,
"dynamic_range": 135.0,
"mean_gray": 76.4432132963989,
"std_gray": 51.794851182963235
"mean_gray": 76.4404432132964,
"std_gray": 51.79062283516175
},
"geometry": {
"distance_to_center_norm": 0.759231686592102,
@@ -856,7 +964,7 @@
"confidence": 0.14539527499019034
},
{
"observation_id": "7b99f87b-9ca8-4517-8002-927f64e5b218",
"observation_id": "b1b8665f-c118-4a39-8569-61f33dd44228",
"type": "aruco",
"marker_id": 82,
"marker_size_m": 0.025,
@@ -886,14 +994,14 @@
"area_px": 347.0,
"perimeter_px": 94.31051635742188,
"sharpness": {
"laplacian_var": 1676.970441440883
"laplacian_var": 1677.1042997085995
},
"contrast": {
"p05": 15.0,
"p95": 152.0,
"dynamic_range": 137.0,
"mean_gray": 86.90944881889764,
"std_gray": 50.64625338152827
"mean_gray": 86.90551181102362,
"std_gray": 50.64745107434925
},
"geometry": {
"distance_to_center_norm": 0.4819019138813019,
@@ -1085,6 +1193,81 @@
410.75
],
"area_px": 129.0
},
{
"image_points_px": [
[
756.0,
679.0
],
[
773.0,
679.0
],
[
777.0,
681.0
],
[
767.0,
682.0
]
],
"center_px": [
768.25,
680.25
],
"area_px": 37.5
},
{
"image_points_px": [
[
825.0,
700.0
],
[
843.0,
701.0
],
[
844.0,
703.0
],
[
843.0,
705.0
]
],
"center_px": [
838.75,
702.25
],
"area_px": 38.0
},
{
"image_points_px": [
[
604.0,
401.0
],
[
613.0,
402.0
],
[
612.0,
413.0
],
[
603.0,
412.0
]
],
"center_px": [
608.0,
407.0
],
"area_px": 100.0
}
]
}

242
data/evaluations/Scene6/render_d_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:17Z",
"created_utc": "2026-06-01T20:35:47Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -59,10 +59,10 @@
3
],
"rms": [
0.007824168563366577,
0.0017174779903767997,
0.001686304523576421,
0.001686304408434461
0.007119340264402724,
0.00030920270496480193,
0.00010110639735161258,
0.0001011028748367772
],
"lambda": [
0.001,
@@ -71,135 +71,135 @@
0.000125
]
},
"residual_rms_px": 3.5910223694678898,
"residual_median_px": 2.9200512819165123,
"residual_max_px": 7.227451375473963,
"sigma2_normalized": 3.791496743872021e-06
"residual_rms_px": 0.25419532267692485,
"residual_median_px": 0.17496989726819528,
"residual_max_px": 0.48114938133075696,
"sigma2_normalized": 1.3629055062391299e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8209501504898071,
0.5709952116012573,
-0.0023096189834177494
0.8192222714424133,
0.5734761357307434,
3.4011838579317555e-05
],
[
0.18082775175571442,
-0.26381808519363403,
-0.947471022605896
0.16137510538101196,
-0.2304706871509552,
-0.959604799747467
],
[
-0.5416107177734375,
0.7774088382720947,
-0.31983327865600586
-0.5503026247024536,
0.7861350774765015,
-0.2813514769077301
]
],
"translation_m": [
-0.11555276811122894,
0.1073552668094635,
1.1219621896743774
-0.1149894967675209,
0.08632654696702957,
1.1260489225387573
],
"rvec_rad": [
1.8304816403607302,
0.5723185924922809,
-0.41405456732485696
1.7905618458450094,
0.5644665475681335,
-0.4226817589406491
]
},
"camera_in_world": {
"position_m": [
0.6831169724464417,
-0.7779209613800049,
0.46028998494148254
0.6999386548995972,
-0.7993870973587036,
0.39965879917144775
],
"position_mm": [
683.116943359375,
-777.9209594726562,
460.28997802734375
699.9386596679688,
-799.3870849609375,
399.6588134765625
],
"orientation_deg": {
"roll": 112.36271667480469,
"pitch": 32.79335403442383,
"yaw": 12.421977043151855
"roll": 109.69187927246094,
"pitch": 33.38777542114258,
"yaw": 11.143774032592773
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.254578268111351e-05,
1.350656471451218e-05,
1.2877142454375977e-05,
1.866785409325433e-07,
-4.825813340329865e-06,
7.924143698735394e-07
1.1160435245769006e-07,
4.5734099051121594e-08,
4.4617521593083773e-08,
4.331888664773765e-10,
-1.753311055489037e-08,
1.2330440139836255e-09
],
[
1.3506564714512115e-05,
1.9832165671742732e-05,
-1.2013147726494238e-06,
1.5985560818800228e-06,
-2.9884467349063015e-06,
4.843766810303629e-06
4.573409905112177e-08,
7.343893283018167e-08,
-6.965254164533588e-09,
6.112174206020122e-09,
-1.1082943083338634e-08,
1.8516287490834534e-08
],
[
1.2877142454376133e-05,
-1.2013147726493207e-06,
3.932623748938787e-05,
-1.9182987430877646e-06,
-5.549672800066237e-06,
-1.044551162767532e-05
4.461752159308314e-08,
-6.965254164534285e-09,
1.292279012534752e-07,
-6.99068227432899e-09,
-1.8226378746009113e-08,
-3.5773238162244425e-08
],
[
1.8667854093253153e-07,
1.5985560818800141e-06,
-1.918298743087761e-06,
5.609541189988167e-07,
1.1674412729750453e-07,
1.3168058375488034e-06
4.331888664774405e-10,
6.1121742060201805e-09,
-6.990682274328966e-09,
2.08236053197196e-09,
3.344172880542264e-10,
4.9180150654815285e-09
],
[
-4.825813340329881e-06,
-2.9884467349063146e-06,
-5.5496728000662185e-06,
1.1674412729750317e-07,
1.8644846576869454e-06,
2.0441872832697677e-06
-1.7533110554890315e-08,
-1.108294308333852e-08,
-1.8226378746009232e-08,
3.3441728805424036e-10,
6.463349240767219e-09,
6.2963681505623055e-09
],
[
7.92414369873488e-07,
4.843766810303603e-06,
-1.0445511627675333e-05,
1.3168058375488025e-06,
2.0441872832697745e-06,
1.1684179835872224e-05
1.2330440139838185e-09,
1.851628749083471e-08,
-3.5773238162244266e-08,
4.918015065481511e-09,
6.29636815056225e-09,
4.2376895162446605e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.32686618370773945,
0.2551571268878884,
0.35930547192080503
0.01914093720111567,
0.01552693772232652,
0.020596848662686216
],
"tvec_std_m": [
0.0007489687036177257,
0.0013654613351124028,
0.0034182129594090864
4.563288870948189e-05,
8.039495780686261e-05,
0.00020585649166943122
]
},
"camera_center_std_m": [
0.005027148852024427,
0.0034759509936067557,
0.005898655925213986
0.00031363585711186715,
0.00019020062817450608,
0.00035746602432478873
],
"camera_center_std_mm": [
5.027148852024427,
3.4759509936067556,
5.898655925213986
0.31363585711186714,
0.1902006281745061,
0.35746602432478874
],
"orientation_std_deg": {
"roll": 0.425304863814075,
"pitch": 0.2847218284747486,
"yaw": 0.3424984543328943
"roll": 0.0241248955356292,
"pitch": 0.017689076258675062,
"yaw": 0.020467858104539844
}
}
},
@@ -212,10 +212,10 @@
696.5
],
"projected_center_px": [
888.1931762695312,
697.6371459960938
887.571044921875,
696.473388671875
],
"reprojection_error_px": 1.220453285590105,
"reprojection_error_px": 0.1809228641474075,
"confidence": 0.0702287153073083
},
{
@@ -225,10 +225,10 @@
691.25
],
"projected_center_px": [
379.5401916503906,
686.4503173828125
379.3891906738281,
691.1223754882812
],
"reprojection_error_px": 4.799850892943756,
"reprojection_error_px": 0.16901693038898305,
"confidence": 0.17416420855033052
},
{
@@ -238,10 +238,10 @@
685.0
],
"projected_center_px": [
261.39935302734375,
680.9091796875
261.437744140625,
684.9998779296875
],
"reprojection_error_px": 4.092058240331809,
"reprojection_error_px": 0.062255979051661935,
"confidence": 0.24540823915500745
},
{
@@ -251,10 +251,10 @@
644.75
],
"projected_center_px": [
714.2818603515625,
648.0887451171875
714.0127563476562,
645.0313110351562
],
"reprojection_error_px": 3.3388971292247174,
"reprojection_error_px": 0.36799517534620346,
"confidence": 0.43828628344822296
},
{
@@ -264,10 +264,10 @@
638.25
],
"projected_center_px": [
959.3347778320312,
640.681884765625
958.87451171875,
638.192138671875
],
"reprojection_error_px": 2.5012054346083072,
"reprojection_error_px": 0.13729931317551453,
"confidence": 0.32624039952470835
},
{
@@ -277,10 +277,10 @@
631.75
],
"projected_center_px": [
210.8018798828125,
629.6607055664062
211.6041717529297,
631.7528686523438
],
"reprojection_error_px": 2.1368113790585186,
"reprojection_error_px": 0.35418337021881324,
"confidence": 0.4432762787121197
},
{
@@ -290,10 +290,10 @@
593.5
],
"projected_center_px": [
792.5379638671875,
597.43408203125
792.4464111328125,
593.3204956054688
],
"reprojection_error_px": 3.970693459712479,
"reprojection_error_px": 0.48114938133075696,
"confidence": 0.3071912693949274
},
{
@@ -303,10 +303,10 @@
596.5
],
"projected_center_px": [
1249.3978271484375,
592.568359375
1249.246826171875,
596.5743408203125
],
"reprojection_error_px": 3.951716645229552,
"reprojection_error_px": 0.25777842556583835,
"confidence": 0.013710388560625888
},
{
@@ -316,10 +316,10 @@
511.75
],
"projected_center_px": [
460.59002685546875,
518.7842407226562
461.97802734375,
511.8236083984375
],
"reprojection_error_px": 7.227451375473963,
"reprojection_error_px": 0.2817575590258661,
"confidence": 0.2483175954884472
},
{
@@ -329,10 +329,10 @@
549.75
],
"projected_center_px": [
1226.6697998046875,
547.3238525390625
1226.444580078125,
549.6978149414062
],
"reprojection_error_px": 2.432082127701569,
"reprojection_error_px": 0.07612258588004105,
"confidence": 0.0693300182738561
},
{
@@ -342,10 +342,10 @@
518.5
],
"projected_center_px": [
1174.57861328125,
517.3482666015625
1174.373779296875,
518.5674438476562
],
"reprojection_error_px": 1.1544132141764858,
"reprojection_error_px": 0.14310953316969782,
"confidence": 0.14539527499019034
},
{
@@ -355,10 +355,10 @@
473.25
],
"projected_center_px": [
974.8729248046875,
473.9526062011719
975.0958862304688,
473.1941223144531
],
"reprojection_error_px": 0.7973964991427623,
"reprojection_error_px": 0.16393099066743508,
"confidence": 0.11509263497856688
}
]

453
data/evaluations/Scene6/render_e_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:15Z",
"created_utc": "2026-06-01T20:35:45Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_e.png",
"image_sha256": "b7fc68b80fafea97b7dfacde750d23ba6255e6016af8fb7ca2d64481e7ca26ca",
"image_sha256": "04759d98ad5aa1022f5c29a351e4fb3812645744aa9d94112fa0a9890b37d36f",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 24,
"num_rejected_candidates": 19
"num_detected_markers": 27,
"num_rejected_candidates": 18
},
"detections": [
{
"observation_id": "a1ff9fd4-63d6-4114-9f9b-347b42bdca7e",
"observation_id": "245303df-0653-44cc-b56b-fc22b5635efd",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 809.0,
"perimeter_px": 136.41653060913086,
"sharpness": {
"laplacian_var": 1176.1825453985841
"laplacian_var": 1176.410406278855
},
"contrast": {
"p05": 20.0,
"p95": 165.0,
"dynamic_range": 145.0,
"mean_gray": 71.81228070175439,
"std_gray": 57.669611232525924
"mean_gray": 71.81052631578947,
"std_gray": 57.66773455317038
},
"geometry": {
"distance_to_center_norm": 0.6871559619903564,
@@ -100,7 +100,7 @@
"confidence": 0.15369374989294518
},
{
"observation_id": "a6084009-c111-4039-aeef-efac97a5e841",
"observation_id": "c998d3eb-379e-4f9b-aa38-e7fa2df341be",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 689.5,
"perimeter_px": 130.40157508850098,
"sharpness": {
"laplacian_var": 1843.7665630762924
"laplacian_var": 1843.4153234068708
},
"contrast": {
"p05": 16.150000000000002,
"p95": 162.84999999999997,
"dynamic_range": 146.69999999999996,
"mean_gray": 74.31818181818181,
"std_gray": 57.10232587062204
"p95": 163.0,
"dynamic_range": 146.85,
"mean_gray": 74.3202479338843,
"std_gray": 57.10551639941902
},
"geometry": {
"distance_to_center_norm": 0.7571271657943726,
@@ -154,7 +154,7 @@
"confidence": 0.3233651345714012
},
{
"observation_id": "ffdf8e17-1845-44ce-8a4a-64bb90990048",
"observation_id": "118b8b4c-bc6a-4897-b5e2-47997aed15bf",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 726.0,
"perimeter_px": 129.54478073120117,
"sharpness": {
"laplacian_var": 1564.786037572075
"laplacian_var": 1565.1285572571146
},
"contrast": {
"p05": 20.0,
"p95": 164.0,
"dynamic_range": 144.0,
"mean_gray": 47.104330708661415,
"std_gray": 48.70737527769088
"mean_gray": 47.04133858267716,
"std_gray": 48.721855026910816
},
"geometry": {
"distance_to_center_norm": 0.43365001678466797,
@@ -208,7 +208,7 @@
"confidence": 0.420622587927407
},
{
"observation_id": "c92f9dcc-c145-4027-97b3-56cd3f408d04",
"observation_id": "9e6012ed-339e-47e7-928e-c064f17a22e5",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 693.5,
"perimeter_px": 127.31333351135254,
"sharpness": {
"laplacian_var": 2295.2329908289107
"laplacian_var": 2306.425190593883
},
"contrast": {
"p05": 29.0,
"p95": 171.0,
"dynamic_range": 142.0,
"mean_gray": 130.60940695296523,
"std_gray": 50.58614302869375
"mean_gray": 130.46012269938652,
"std_gray": 50.807859567688695
},
"geometry": {
"distance_to_center_norm": 0.418724000453949,
@@ -262,7 +262,7 @@
"confidence": 0.2981424558820519
},
{
"observation_id": "498c39cc-bc88-4682-99f3-e7fd7c422b9c",
"observation_id": "6b0c3c28-d559-4344-909a-e0713d1378c2",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 959.5,
"perimeter_px": 125.87987327575684,
"sharpness": {
"laplacian_var": 533.5199905325444
"laplacian_var": 531.4307597633136
},
"contrast": {
"p05": 6.0,
"p95": 84.0,
"dynamic_range": 78.0,
"mean_gray": 41.37384615384615,
"std_gray": 34.49606790043926
"mean_gray": 41.36,
"std_gray": 34.482587802229425
},
"geometry": {
"distance_to_center_norm": 0.16279113292694092,
@@ -316,7 +316,7 @@
"confidence": 0.4446318565023385
},
{
"observation_id": "5c3a1a88-5ffd-4f91-8fc4-7238c6693ff7",
"observation_id": "5b389750-7e8b-4273-a4b0-cb192e8cbc87",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 620.0,
"perimeter_px": 124.12893295288086,
"sharpness": {
"laplacian_var": 2150.86136652697
"laplacian_var": 2149.8202706365587
},
"contrast": {
"p05": 22.0,
"p95": 160.0,
"dynamic_range": 138.0,
"mean_gray": 80.0068493150685,
"std_gray": 51.00986965678261
"mean_gray": 80.01141552511416,
"std_gray": 51.00772040503931
},
"geometry": {
"distance_to_center_norm": 0.8417559862136841,
@@ -370,7 +370,7 @@
"confidence": 0.15136171428561934
},
{
"observation_id": "fbe999b2-7161-41ba-83d5-f49bebefc0ab",
"observation_id": "e3adc9dc-a657-46c2-ba95-1472a2012c85",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 800.0,
"perimeter_px": 116.31769561767578,
"sharpness": {
"laplacian_var": 2347.368494722992
"laplacian_var": 2421.502533523698
},
"contrast": {
"p05": 43.0,
"p05": 43.3,
"p95": 183.0,
"dynamic_range": 140.0,
"mean_gray": 98.2063492063492,
"std_gray": 61.578914500097596
"dynamic_range": 139.7,
"mean_gray": 98.19753086419753,
"std_gray": 61.6330077817427
},
"geometry": {
"distance_to_center_norm": 0.15074309706687927,
@@ -424,7 +424,7 @@
"confidence": 0.3439896678855311
},
{
"observation_id": "9ab05c10-33fb-4dad-915c-628dd6205e3b",
"observation_id": "2b485de4-91c6-420e-91b7-27a00cacf14d",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 544.0,
"perimeter_px": 114.15619277954102,
"sharpness": {
"laplacian_var": 3940.9750504835793
"laplacian_var": 3934.640902327559
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 101.58762886597938,
"std_gray": 66.12609051618766
"p95": 176.64999999999998,
"dynamic_range": 154.64999999999998,
"mean_gray": 101.52835051546391,
"std_gray": 66.12427163561846
},
"geometry": {
"distance_to_center_norm": 0.43032872676849365,
@@ -478,7 +478,61 @@
"confidence": 0.2263843126910661
},
{
"observation_id": "dd87615c-6217-4ec9-b788-1dd37c417cce",
"observation_id": "f0aba5f3-7257-43a2-830e-3d8df94eadae",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
613.0,
227.0
],
[
608.0,
261.0
],
[
587.0,
256.0
],
[
592.0,
221.0
]
],
"center_px": [
600.0,
241.25
],
"quality": {
"area_px": 752.0,
"perimeter_px": 113.14838218688965,
"sharpness": {
"laplacian_var": 3045.3660535371264
},
"contrast": {
"p05": 43.0,
"p95": 184.0,
"dynamic_range": 141.0,
"mean_gray": 104.72118959107807,
"std_gray": 61.58528674583147
},
"geometry": {
"distance_to_center_norm": 0.17064616084098816,
"distance_to_border_px": 221.0
},
"edge_ratio": 1.6378045175122917,
"edge_lengths_px": [
34.36568069458008,
21.587032318115234,
35.35533905029297,
21.840330123901367
]
},
"confidence": 0.3061008368048849
},
{
"observation_id": "7bf25bc7-b9be-449d-994b-e3e4b4ba9d7f",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 504.0,
"perimeter_px": 111.26159286499023,
"sharpness": {
"laplacian_var": 3282.708378824781
"laplacian_var": 3282.9037260994933
},
"contrast": {
"p05": 24.0,
"p05": 23.0,
"p95": 174.14999999999998,
"dynamic_range": 150.14999999999998,
"mean_gray": 81.26719576719577,
"std_gray": 61.60387221620455
"dynamic_range": 151.14999999999998,
"mean_gray": 81.06878306878306,
"std_gray": 61.635861281185775
},
"geometry": {
"distance_to_center_norm": 0.31352299451828003,
@@ -532,7 +586,7 @@
"confidence": 0.24210516100479615
},
{
"observation_id": "b72fa9d5-198d-46d9-bdf4-16141832977b",
"observation_id": "f989112b-607d-4c2e-b0db-aaab13a78f8b",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -562,14 +616,14 @@
"area_px": 479.0,
"perimeter_px": 107.19572448730469,
"sharpness": {
"laplacian_var": 3403.9246590306175
"laplacian_var": 3401.054367841203
},
"contrast": {
"p05": 28.0,
"p95": 173.0,
"dynamic_range": 145.0,
"mean_gray": 90.73463687150839,
"std_gray": 61.47029510402077
"mean_gray": 90.63687150837988,
"std_gray": 61.495532682734044
},
"geometry": {
"distance_to_center_norm": 0.25999337434768677,
@@ -586,7 +640,7 @@
"confidence": 0.28140192555287236
},
{
"observation_id": "aafe4996-8c1c-4997-8a88-be7b17a52f41",
"observation_id": "30a85ef8-b1af-421e-be00-1d7bfab1601e",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -616,14 +670,14 @@
"area_px": 690.5,
"perimeter_px": 108.45840644836426,
"sharpness": {
"laplacian_var": 3258.2936124178404
"laplacian_var": 3253.6707207133377
},
"contrast": {
"p05": 67.0,
"p95": 190.0,
"dynamic_range": 123.0,
"mean_gray": 109.32591093117409,
"std_gray": 52.39534640189969
"mean_gray": 109.33603238866397,
"std_gray": 52.38417372768759
},
"geometry": {
"distance_to_center_norm": 0.22053270041942596,
@@ -640,7 +694,7 @@
"confidence": 0.2744897798009168
},
{
"observation_id": "29da89bd-a6bd-462d-a9e4-06f0e849f550",
"observation_id": "25a86db9-ef5e-4c38-9f53-3cb2e00f137c",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 464.0,
"perimeter_px": 108.4006233215332,
"sharpness": {
"laplacian_var": 2518.7388248093903
"laplacian_var": 2519.177332574013
},
"contrast": {
"p05": 26.0,
"p95": 167.0,
"dynamic_range": 141.0,
"mean_gray": 54.74927113702624,
"std_gray": 46.77046604041759
"mean_gray": 54.60349854227405,
"std_gray": 46.830694246618435
},
"geometry": {
"distance_to_center_norm": 0.2987307906150818,
@@ -694,7 +748,7 @@
"confidence": 0.2664122029520185
},
{
"observation_id": "3ec3e159-cf3e-45a9-949d-14eff7010a0b",
"observation_id": "016a4d04-5d0b-44ea-bce7-18f75f3da85b",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 443.5,
"perimeter_px": 108.12868309020996,
"sharpness": {
"laplacian_var": 5376.414701561065
"laplacian_var": 5369.529853076217
},
"contrast": {
"p05": 35.0,
"p95": 175.55,
"dynamic_range": 140.55,
"mean_gray": 102.41818181818182,
"std_gray": 56.16847738046376
"mean_gray": 102.4030303030303,
"std_gray": 56.14055404962692
},
"geometry": {
"distance_to_center_norm": 0.20990434288978577,
@@ -748,7 +802,7 @@
"confidence": 0.2093822185726055
},
{
"observation_id": "e3592a65-8fe3-4e8f-86cf-9fb06e3b08d3",
"observation_id": "fea187d6-a2f6-4838-842c-a14f4ea14ae0",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 440.0,
"perimeter_px": 106.54574584960938,
"sharpness": {
"laplacian_var": 3592.627486057995
"laplacian_var": 3592.380518615201
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 73.91540785498489,
"std_gray": 62.611631580112046
"mean_gray": 73.85498489425981,
"std_gray": 62.61480185792111
},
"geometry": {
"distance_to_center_norm": 0.48482945561408997,
@@ -802,7 +856,61 @@
"confidence": 0.16725963004706537
},
{
"observation_id": "2a0a6fe3-737c-4bbb-9127-7ae9db3fe664",
"observation_id": "ab372376-cf6a-4e31-b0a2-51274fc630dc",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
620.0,
271.0
],
[
643.0,
277.0
],
[
659.0,
302.0
],
[
637.0,
296.0
]
],
"center_px": [
639.75,
286.5
],
"quality": {
"area_px": 463.5,
"perimeter_px": 106.48731422424316,
"sharpness": {
"laplacian_var": 4260.376341371039
},
"contrast": {
"p05": 34.0,
"p95": 147.0,
"dynamic_range": 113.0,
"mean_gray": 84.6938202247191,
"std_gray": 45.16547684779858
},
"geometry": {
"distance_to_center_norm": 0.10009558498859406,
"distance_to_border_px": 271.0
},
"edge_ratio": 1.3257798893673813,
"edge_lengths_px": [
23.76972770690918,
29.681644439697266,
22.803508758544922,
30.232433319091797
]
},
"confidence": 0.2330703629449717
},
{
"observation_id": "ecbe389f-578b-4919-8024-54ed8f80c9b9",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 450.0,
"perimeter_px": 104.8877944946289,
"sharpness": {
"laplacian_var": 4252.619248057131
"laplacian_var": 4267.486628859483
},
"contrast": {
"p05": 23.0,
"p95": 176.0,
"dynamic_range": 153.0,
"mean_gray": 85.27246376811594,
"std_gray": 63.32177747525332
"mean_gray": 85.16811594202899,
"std_gray": 63.37000271639897
},
"geometry": {
"distance_to_center_norm": 0.2882344722747803,
@@ -856,7 +964,7 @@
"confidence": 0.22298824455832925
},
{
"observation_id": "c137861b-eaf9-4a5d-9cad-f718c701ae79",
"observation_id": "0374767f-3f89-43bb-aa0a-f857ca29f3e9",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -886,14 +994,14 @@
"area_px": 314.0,
"perimeter_px": 96.17765998840332,
"sharpness": {
"laplacian_var": 4611.719317138621
"laplacian_var": 4613.425199491562
},
"contrast": {
"p05": 15.0,
"p95": 152.0,
"dynamic_range": 137.0,
"mean_gray": 89.00420168067227,
"std_gray": 53.01747752885222
"mean_gray": 89.0,
"std_gray": 53.017358818923206
},
"geometry": {
"distance_to_center_norm": 0.7755014896392822,
@@ -910,7 +1018,61 @@
"confidence": 0.13639287915585202
},
{
"observation_id": "06fff50d-b1f7-4a90-8c6f-8fb7448bd4a7",
"observation_id": "2938807f-9132-4be0-805c-3b53c9bc0fa7",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
686.0,
426.0
],
[
709.0,
435.0
],
[
683.0,
441.0
],
[
661.0,
432.0
]
],
"center_px": [
684.75,
433.5
],
"quality": {
"area_px": 364.5,
"perimeter_px": 100.86115455627441,
"sharpness": {
"laplacian_var": 3679.9021052207863
},
"contrast": {
"p05": 29.0,
"p95": 163.0,
"dynamic_range": 134.0,
"mean_gray": 78.68131868131869,
"std_gray": 52.13329192750836
},
"geometry": {
"distance_to_center_norm": 0.11718772351741791,
"distance_to_border_px": 279.0
},
"edge_ratio": 1.122576116880967,
"edge_lengths_px": [
24.698177337646484,
26.68332862854004,
23.76972770690918,
25.70992088317871
]
},
"confidence": 0.21646639042630428
},
{
"observation_id": "30eda4fb-46ee-4ea9-93ed-e0741c5fbc5e",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
@@ -924,8 +1086,8 @@
456.0
],
[
551.0,
464.0
554.0,
465.0
],
[
524.0,
@@ -933,38 +1095,38 @@
]
],
"center_px": [
528.75,
463.0
529.5,
463.25
],
"quality": {
"area_px": 317.0,
"perimeter_px": 92.82797241210938,
"area_px": 342.5,
"perimeter_px": 98.73275375366211,
"sharpness": {
"laplacian_var": 5934.181325867118
"laplacian_var": 5167.6638556223415
},
"contrast": {
"p05": 29.0,
"p95": 177.0,
"dynamic_range": 148.0,
"mean_gray": 86.97854077253218,
"std_gray": 58.714369807611746
"mean_gray": 83.00778210116732,
"std_gray": 57.75703788994225
},
"geometry": {
"distance_to_center_norm": 0.20646795630455017,
"distance_to_center_norm": 0.20595192909240723,
"distance_to_border_px": 250.0
},
"edge_ratio": 1.4721205886780915,
"edge_ratio": 1.6187639441216908,
"edge_lengths_px": [
26.68332862854004,
19.697715759277344,
27.658634185791016,
22.847318649291992,
30.4138126373291,
18.788293838500977
]
},
"confidence": 0.14355708014592924
"confidence": 0.1410541259968713
},
{
"observation_id": "392b28ad-d7e4-4cf8-b97e-d7e92b6ead98",
"observation_id": "bce7fff4-8ce1-445e-bf00-5bd616809455",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -994,14 +1156,14 @@
"area_px": 364.5,
"perimeter_px": 99.33988952636719,
"sharpness": {
"laplacian_var": 5611.299524221453
"laplacian_var": 5593.737240484428
},
"contrast": {
"p05": 22.0,
"p95": 178.0,
"dynamic_range": 156.0,
"mean_gray": 88.2095588235294,
"std_gray": 65.40836245631846
"p95": 177.45,
"dynamic_range": 155.45,
"mean_gray": 88.13235294117646,
"std_gray": 65.37660231120752
},
"geometry": {
"distance_to_center_norm": 0.34818607568740845,
@@ -1018,7 +1180,7 @@
"confidence": 0.14922985097126407
},
{
"observation_id": "ec76531f-58cc-4f39-94c2-586f736ace9d",
"observation_id": "c05effc5-e830-499f-af90-a1ed91fa63e7",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -1048,14 +1210,14 @@
"area_px": 283.0,
"perimeter_px": 88.51022148132324,
"sharpness": {
"laplacian_var": 5883.251885191818
"laplacian_var": 5860.115962861721
},
"contrast": {
"p05": 28.0,
"p95": 178.0,
"dynamic_range": 150.0,
"mean_gray": 123.50485436893204,
"std_gray": 57.3513060577716
"mean_gray": 123.47087378640776,
"std_gray": 57.31370518601217
},
"geometry": {
"distance_to_center_norm": 0.2656901776790619,
@@ -1072,7 +1234,7 @@
"confidence": 0.11373255626245794
},
{
"observation_id": "2beb0028-cb13-4ca7-8a3e-09b5264b3e5c",
"observation_id": "b05373db-f328-48d9-831f-100077bcb31f",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -1126,7 +1288,7 @@
"confidence": 0.1532878382904936
},
{
"observation_id": "8557d79f-5738-446d-95cb-d086564b1099",
"observation_id": "8a977f3b-6296-4616-bc3c-7adf0332e299",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -1156,14 +1318,14 @@
"area_px": 255.0,
"perimeter_px": 89.32070732116699,
"sharpness": {
"laplacian_var": 5865.460493580027
"laplacian_var": 5863.987303039836
},
"contrast": {
"p05": 16.0,
"p95": 148.7,
"dynamic_range": 132.7,
"mean_gray": 81.14973262032086,
"std_gray": 49.984158318573385
"mean_gray": 81.1283422459893,
"std_gray": 49.98732030594858
},
"geometry": {
"distance_to_center_norm": 0.6981655359268188,
@@ -1180,7 +1342,7 @@
"confidence": 0.13359880447387698
},
{
"observation_id": "6cc27d0b-21ac-408c-abcc-187b24aacd9c",
"observation_id": "f90930e4-6257-4f53-893f-e4188c85fb2b",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -1210,14 +1372,14 @@
"area_px": 236.5,
"perimeter_px": 85.49073791503906,
"sharpness": {
"laplacian_var": 8162.914448245092
"laplacian_var": 8169.78030190363
},
"contrast": {
"p05": 23.0,
"p95": 179.0,
"dynamic_range": 156.0,
"mean_gray": 90.85975609756098,
"std_gray": 60.67967546530435
"mean_gray": 90.85365853658537,
"std_gray": 60.68463500458333
},
"geometry": {
"distance_to_center_norm": 0.3623812198638916,
@@ -1234,7 +1396,7 @@
"confidence": 0.09620577544552089
},
{
"observation_id": "f9273a0d-cbff-40f5-9432-49a6d7e13e37",
"observation_id": "ed7dac5c-38fb-458d-ad7a-baa4ef8717c1",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
@@ -1264,14 +1426,14 @@
"area_px": 205.0,
"perimeter_px": 84.45795440673828,
"sharpness": {
"laplacian_var": 5959.471141868512
"laplacian_var": 5957.252214532871
},
"contrast": {
"p05": 15.450000000000001,
"p95": 148.0,
"dynamic_range": 132.55,
"mean_gray": 79.57058823529412,
"std_gray": 50.45788301620975
"mean_gray": 79.56470588235294,
"std_gray": 50.46290356963421
},
"geometry": {
"distance_to_center_norm": 0.6668679118156433,
@@ -1288,7 +1450,7 @@
"confidence": 0.11774828338549573
},
{
"observation_id": "2d299e62-841a-4717-9e1a-34a63900ec5a",
"observation_id": "af309419-e226-4238-bc29-2c8271c61959",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -1318,14 +1480,14 @@
"area_px": 197.0,
"perimeter_px": 78.94941711425781,
"sharpness": {
"laplacian_var": 6191.256912305683
"laplacian_var": 6198.061943752224
},
"contrast": {
"p05": 27.0,
"p95": 174.1,
"dynamic_range": 147.1,
"mean_gray": 87.61635220125787,
"std_gray": 54.04922037524271
"mean_gray": 87.61006289308176,
"std_gray": 54.05388785110599
},
"geometry": {
"distance_to_center_norm": 0.0912691056728363,
@@ -1421,27 +1583,27 @@
{
"image_points_px": [
[
710.0,
435.0
742.0,
412.0
],
[
683.0,
441.0
766.0,
407.0
],
[
661.0,
432.0
789.0,
414.0
],
[
686.0,
426.0
765.0,
420.0
]
],
"center_px": [
685.0,
433.5
765.5,
413.25
],
"area_px": 372.0
"area_px": 306.5
},
{
"image_points_px": [
@@ -1493,31 +1655,6 @@
],
"area_px": 298.5
},
{
"image_points_px": [
[
742.0,
412.0
],
[
766.0,
407.0
],
[
788.0,
415.0
],
[
762.0,
419.0
]
],
"center_px": [
764.5,
413.25
],
"area_px": 282.0
},
{
"image_points_px": [
[
@@ -1554,7 +1691,7 @@
119.0
],
[
681.0,
680.0,
150.0
],
[
@@ -1563,10 +1700,10 @@
]
],
"center_px": [
675.5,
675.25,
133.25
],
"area_px": 423.0
"area_px": 409.5
},
{
"image_points_px": [

318
data/evaluations/Scene6/render_e_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:17Z",
"created_utc": "2026-06-01T20:35:48Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -36,7 +36,7 @@
"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": 21,
"num_used_markers": 22,
"used_marker_ids": [
92,
217,
@@ -51,6 +51,7 @@
66,
55,
53,
215,
51,
95,
103,
@@ -68,10 +69,10 @@
3
],
"rms": [
0.007519319571338876,
0.0011709521763009134,
0.0011023724411968134,
0.0011023716416788713
0.006463256860384075,
0.0003318027543564833,
0.00017296381860650695,
0.00017296262145669904
],
"lambda": [
0.001,
@@ -80,135 +81,135 @@
0.000125
]
},
"residual_rms_px": 2.366770994482858,
"residual_median_px": 1.205248686159704,
"residual_max_px": 5.359430209951488,
"sigma2_normalized": 1.417760442437034e-06
"residual_rms_px": 0.4348501009550215,
"residual_median_px": 0.32394788292733817,
"residual_max_px": 0.8363276628397663,
"sigma2_normalized": 3.463965817175508e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.630020260810852,
0.776574969291687,
-0.002406748477369547
0.6285498738288879,
0.7777692675590515,
0.00023726974905002862
],
[
0.2426123172044754,
-0.1997688263654709,
-0.9493322372436523
0.20639397203922272,
-0.166501984000206,
-0.9641984105110168
],
[
-0.7377084493637085,
0.5975146293640137,
-0.31426504254341125
-0.7498844265937805,
0.6060957312583923,
-0.26518169045448303
]
],
"translation_m": [
-0.0552651584148407,
-0.00989167857915163,
1.5432920455932617
-0.05447891354560852,
-0.01254303939640522,
1.55050528049469
],
"rvec_rad": [
1.7491307465108603,
0.8314584178546814,
-0.6037899189351765
1.7009169531788546,
0.8125195184178173,
-0.6189043658727903
]
},
"camera_in_world": {
"position_m": [
1.1757175922393799,
-0.8811981081962585,
0.47547921538352966
1.1995313167572021,
-0.8994710445404053,
0.39908456802368164
],
"position_mm": [
1175.7176513671875,
-881.1981201171875,
475.4792175292969
1199.5313720703125,
-899.4710693359375,
399.0845642089844
],
"orientation_deg": {
"roll": 117.74229431152344,
"pitch": 47.53657150268555,
"yaw": 21.06102180480957
"roll": 113.63054656982422,
"pitch": 48.58036422729492,
"yaw": 18.17838478088379
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
4.6141316317787745e-06,
6.140725217876692e-07,
7.186959305106169e-07,
-1.803291191031987e-07,
-1.2412733788804135e-06,
6.019495816183369e-07
1.0393814174068606e-07,
1.0717049342561546e-08,
1.4806136578404552e-08,
-4.692525793163841e-09,
-2.8459496006303278e-08,
1.2735920470874916e-08
],
[
6.140725217876684e-07,
2.906910251091419e-06,
-7.555899743483854e-08,
7.524955718075708e-07,
-7.269243759018584e-07,
4.403345932545452e-07
1.0717049342561578e-08,
7.063391535389971e-08,
-3.335113206542182e-09,
1.835760249788355e-08,
-1.6904754095170576e-08,
9.825154745338065e-09
],
[
7.186959305106158e-07,
-7.555899743483065e-08,
5.964405216789035e-06,
-9.659678523205251e-07,
-8.115645213656036e-07,
-2.978669970606388e-07
1.4806136578404529e-08,
-3.3351132065422466e-09,
1.299533688880752e-07,
-2.243610539499252e-08,
-1.757973024960775e-08,
-5.965078817834138e-09
],
[
-1.8032911910320637e-07,
7.524955718075834e-07,
-9.659678523205257e-07,
4.653501117451101e-07,
1.891564906645478e-08,
3.385763184186115e-07
-4.692525793163931e-09,
1.8357602497883707e-08,
-2.2436105394992434e-08,
1.1167049522024039e-08,
3.3814662385494724e-10,
7.949992926095407e-09
],
[
-1.2412733788804131e-06,
-7.269243759018603e-07,
-8.115645213656022e-07,
1.891564906645552e-08,
6.600069865252418e-07,
1.8603968266675781e-07
-2.845949600630325e-08,
-1.690475409517054e-08,
-1.757973024960777e-08,
3.3814662385497175e-10,
1.527971108615136e-08,
3.4509265207960104e-09
],
[
6.019495816183352e-07,
4.4033459325454474e-07,
-2.97866997060642e-07,
3.3857631841861156e-07,
1.8603968266675858e-07,
3.2345754335899166e-06
1.2735920470875042e-08,
9.825154745338044e-09,
-5.965078817834141e-09,
7.949992926095384e-09,
3.450926520795976e-09,
8.034184097256182e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.12307437028314795,
0.09768737600732831,
0.13992850788784328
0.018471837800141732,
0.015227523299932067,
0.020654581685214345
],
"tvec_std_m": [
0.0006821657509323596,
0.0008124081403612606,
0.0017984925447690676
0.00010567426139805302,
0.0001236111284883014,
0.00028344636348445507
]
},
"camera_center_std_m": [
0.0018820666442413403,
0.002072178018007238,
0.0029233002731715043
0.00036251673273425983,
0.00034275394355037396,
0.00039867516770258584
],
"camera_center_std_mm": [
1.8820666442413403,
2.072178018007238,
2.9233002731715043
0.36251673273425983,
0.342753943550374,
0.3986751677025858
],
"orientation_std_deg": {
"roll": 0.17079958317024002,
"pitch": 0.1119036682095792,
"yaw": 0.14901767785250553
"roll": 0.02645400117243889,
"pitch": 0.01801067174783902,
"yaw": 0.023327938683443166
}
}
},
@@ -221,10 +222,10 @@
688.5
],
"projected_center_px": [
1022.3832397460938,
685.3994750976562
1022.9600219726562,
688.3970947265625
],
"reprojection_error_px": 3.1612731423988376,
"reprojection_error_px": 0.1103980886226943,
"confidence": 0.15369374989294518
},
{
@@ -234,10 +235,10 @@
600.5
],
"projected_center_px": [
1140.5599365234375,
605.8148193359375
1140.797119140625,
600.2960205078125
],
"reprojection_error_px": 5.359430209951488,
"reprojection_error_px": 0.4966978015064179,
"confidence": 0.3233651345714012
},
{
@@ -247,10 +248,10 @@
654.75
],
"projected_center_px": [
761.4479370117188,
653.17626953125
761.121337890625,
655.0568237304688
],
"reprojection_error_px": 1.8371750505758477,
"reprojection_error_px": 0.6929657826365488,
"confidence": 0.420622587927407
},
{
@@ -260,10 +261,10 @@
665.5
],
"projected_center_px": [
675.4965209960938,
663.5762939453125
674.881591796875,
665.3247680664062
],
"reprojection_error_px": 2.0634773035946266,
"reprojection_error_px": 0.21914066613888822,
"confidence": 0.2981424558820519
},
{
@@ -273,10 +274,10 @@
566.75
],
"projected_center_px": [
1222.358154296875,
572.0414428710938
1222.479736328125,
566.8677368164062
],
"reprojection_error_px": 5.293343731663748,
"reprojection_error_px": 0.11946787993153928,
"confidence": 0.15136171428561934
},
{
@@ -286,10 +287,10 @@
578.0
],
"projected_center_px": [
411.8515625,
578.0541381835938
411.40228271484375,
578.289306640625
],
"reprojection_error_px": 0.6039936956037543,
"reprojection_error_px": 0.32693784967468326,
"confidence": 0.2263843126910661
},
{
@@ -299,10 +300,10 @@
569.25
],
"projected_center_px": [
543.9927368164062,
568.7229614257812
543.7144775390625,
569.2646484375
],
"reprojection_error_px": 0.5270886192571884,
"reprojection_error_px": 0.28589797554546903,
"confidence": 0.24210516100479615
},
{
@@ -312,10 +313,10 @@
544.25
],
"projected_center_px": [
690.151123046875,
543.6890869140625
690.0812377929688,
544.4871826171875
],
"reprojection_error_px": 0.5809145077140979,
"reprojection_error_px": 0.2507093394796964,
"confidence": 0.28140192555287236
},
{
@@ -325,10 +326,10 @@
556.0
],
"projected_center_px": [
738.726806640625,
554.8162841796875
738.6351318359375,
555.8132934570312
],
"reprojection_error_px": 1.205248686159704,
"reprojection_error_px": 0.23047764809451937,
"confidence": 0.2664122029520185
},
{
@@ -338,10 +339,10 @@
511.75
],
"projected_center_px": [
666.0850830078125,
511.1456298828125
666.1640625,
511.7244567871094
],
"reprojection_error_px": 1.0965109854181372,
"reprojection_error_px": 0.8363276628397663,
"confidence": 0.2093822185726055
},
{
@@ -351,10 +352,10 @@
537.25
],
"projected_center_px": [
330.9825439453125,
537.2835083007812
330.9931335449219,
537.0530395507812
],
"reprojection_error_px": 0.2695469298846672,
"reprojection_error_px": 0.32368780375672823,
"confidence": 0.16725963004706537
},
{
@@ -364,10 +365,10 @@
534.0
],
"projected_center_px": [
519.5048828125,
533.7169189453125
519.4966430664062,
533.99072265625
],
"reprojection_error_px": 0.2831231629183623,
"reprojection_error_px": 0.009866007815145463,
"confidence": 0.22298824455832925
},
{
@@ -377,24 +378,37 @@
466.0
],
"projected_center_px": [
1200.2362060546875,
464.0885925292969
1199.823974609375,
465.9877014160156
],
"reprojection_error_px": 2.0482865702870416,
"reprojection_error_px": 0.3242079620979481,
"confidence": 0.13639287915585202
},
{
"marker_id": 215,
"observed_center_px": [
684.75,
433.5
],
"projected_center_px": [
684.37548828125,
433.0339050292969
],
"reprojection_error_px": 0.597916005134355,
"confidence": 0.21646639042630428
},
{
"marker_id": 51,
"observed_center_px": [
528.75,
463.0
529.5,
463.25
],
"projected_center_px": [
528.5050659179688,
463.124755859375
529.0533447265625,
463.1946105957031
],
"reprojection_error_px": 0.27487584286161976,
"confidence": 0.14355708014592924
"reprojection_error_px": 0.45007657059426076,
"confidence": 0.1410541259968713
},
{
"marker_id": 95,
@@ -403,10 +417,10 @@
498.75
],
"projected_center_px": [
425.6400451660156,
498.99713134765625
426.0158386230469,
498.8721008300781
],
"reprojection_error_px": 0.4617457466252946,
"reprojection_error_px": 0.7755110632712474,
"confidence": 0.14922985097126407
},
{
@@ -416,10 +430,10 @@
447.25
],
"projected_center_px": [
464.5747375488281,
447.2092590332031
465.3929138183594,
447.0864562988281
],
"reprojection_error_px": 0.9261589657958996,
"reprojection_error_px": 0.19548399548649623,
"confidence": 0.11373255626245794
},
{
@@ -429,10 +443,10 @@
455.5
],
"projected_center_px": [
1134.590576171875,
454.06219482421875
1134.185546875,
455.764404296875
],
"reprojection_error_px": 1.665488524195643,
"reprojection_error_px": 0.5095200805937179,
"confidence": 0.1532878382904936
},
{
@@ -442,10 +456,10 @@
429.0
],
"projected_center_px": [
1148.681884765625,
427.5081787109375
1148.08642578125,
429.22271728515625
],
"reprojection_error_px": 1.6402736332976764,
"reprojection_error_px": 0.23889831471160117,
"confidence": 0.13359880447387698
},
{
@@ -455,10 +469,10 @@
409.25
],
"projected_center_px": [
377.59625244140625,
409.9630126953125
379.04229736328125,
409.60870361328125
],
"reprojection_error_px": 1.151150187135006,
"reprojection_error_px": 0.6501959030959982,
"confidence": 0.09620577544552089
},
{
@@ -468,10 +482,10 @@
408.75
],
"projected_center_px": [
1127.754150390625,
407.0287780761719
1127.07666015625,
408.6895446777344
],
"reprojection_error_px": 1.7935363189614901,
"reprojection_error_px": 0.18357981212953398,
"confidence": 0.11774828338549573
},
{
@@ -481,10 +495,10 @@
354.0
],
"projected_center_px": [
571.7759399414062,
358.68560791015625
572.9373779296875,
353.7278137207031
],
"reprojection_error_px": 4.912003109125668,
"reprojection_error_px": 0.4145092634476944,
"confidence": 0.09088599426545704
}
]

338
data/evaluations/Scene6/render_f_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:15Z",
"created_utc": "2026-06-01T20:35:46Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,18 +35,18 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_f.png",
"image_sha256": "ee6001b1b7cdde0c4fe009d19148e4e7457fafe201864a739b62ec1d98cfb506",
"image_sha256": "375b0fca19394fc388d8e86653950e63dd5b3f485e03b5a257f8c3760bdc0cd8",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 34,
"num_detected_markers": 35,
"num_rejected_candidates": 14
},
"detections": [
{
"observation_id": "5c87f896-e51d-4589-879a-8558ad9a5dcf",
"observation_id": "8b4cf9eb-76fe-434c-8dda-e8f9da2303cf",
"type": "aruco",
"marker_id": 41,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1640.0,
"perimeter_px": 162.60750579833984,
"sharpness": {
"laplacian_var": 860.4317572587044
"laplacian_var": 860.3472760833141
},
"contrast": {
"p05": 10.0,
"p95": 161.0,
"dynamic_range": 151.0,
"mean_gray": 49.98714416896235,
"std_gray": 58.97531677742462
"mean_gray": 49.988980716253444,
"std_gray": 58.97679632565685
},
"geometry": {
"distance_to_center_norm": 0.33551663160324097,
@@ -100,7 +100,7 @@
"confidence": 0.9684350014790998
},
{
"observation_id": "c8091eea-f6c6-4563-becd-d24829e210e3",
"observation_id": "e6863a44-cea5-4de4-935f-96c5e18e79a4",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1390.0,
"perimeter_px": 151.25637435913086,
"sharpness": {
"laplacian_var": 1028.2831775669804
"laplacian_var": 1028.2824069704563
},
"contrast": {
"p05": 9.0,
"p95": 154.0,
"dynamic_range": 145.0,
"mean_gray": 60.93782929399368,
"std_gray": 60.143973136685354
"std_gray": 60.14644344902052
},
"geometry": {
"distance_to_center_norm": 0.4195789098739624,
@@ -154,7 +154,7 @@
"confidence": 0.6710680790554111
},
{
"observation_id": "57570b70-706e-4882-9446-9af260438f3b",
"observation_id": "d43678c6-3dec-41ad-b262-87c2a42f6289",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 1349.0,
"perimeter_px": 148.80301475524902,
"sharpness": {
"laplacian_var": 1315.7412561045676
"laplacian_var": 1316.080239155415
},
"contrast": {
"p05": 53.0,
"p95": 195.0,
"dynamic_range": 142.0,
"mean_gray": 98.11652542372882,
"std_gray": 59.849203000472166
"mean_gray": 98.11546610169492,
"std_gray": 59.849992691783
},
"geometry": {
"distance_to_center_norm": 0.3628319203853607,
@@ -208,7 +208,7 @@
"confidence": 0.6452379410051939
},
{
"observation_id": "4ce0aa47-ec99-4fd7-94f5-71ed2f2f6f8d",
"observation_id": "8b642485-2368-4ebd-ad5e-fdbaed13c519",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 956.0,
"perimeter_px": 124.29391288757324,
"sharpness": {
"laplacian_var": 2146.208017488884
"laplacian_var": 2146.1468260915235
},
"contrast": {
"p05": 9.0,
"p95": 162.0,
"dynamic_range": 153.0,
"mean_gray": 52.967455621301774,
"std_gray": 63.384186938708666
"mean_gray": 52.96597633136095,
"std_gray": 63.38520137723454
},
"geometry": {
"distance_to_center_norm": 0.16193300485610962,
@@ -262,7 +262,7 @@
"confidence": 0.5737897608508687
},
{
"observation_id": "bfe19884-c99f-4d90-88a0-cd538cd2414a",
"observation_id": "fc18d8a8-8976-4b80-b118-02b59394cc23",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 920.0,
"perimeter_px": 121.5911865234375,
"sharpness": {
"laplacian_var": 2526.7918381344307
"laplacian_var": 2526.0973936899863
},
"contrast": {
"p05": 9.0,
"p95": 152.0,
"dynamic_range": 143.0,
"mean_gray": 76.67129629629629,
"std_gray": 62.754260419422934
"mean_gray": 76.67438271604938,
"std_gray": 62.75582574345124
},
"geometry": {
"distance_to_center_norm": 0.9099597334861755,
@@ -316,7 +316,7 @@
"confidence": 0.2988751797371847
},
{
"observation_id": "d31a52dd-248b-43c0-a75e-f84b250156f0",
"observation_id": "3601f5d8-7d84-414d-8165-6fef8d1d5243",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 921.5,
"perimeter_px": 121.44803810119629,
"sharpness": {
"laplacian_var": 2362.717253047052
"laplacian_var": 2361.3653273809523
},
"contrast": {
"p05": 15.0,
"p95": 164.0,
"dynamic_range": 149.0,
"mean_gray": 64.40625,
"std_gray": 61.80470506426155
"p95": 163.0,
"dynamic_range": 148.0,
"mean_gray": 64.34672619047619,
"std_gray": 61.79558049767051
},
"geometry": {
"distance_to_center_norm": 0.36522194743156433,
@@ -370,7 +370,7 @@
"confidence": 0.5954364184044425
},
{
"observation_id": "7f9394e0-1189-43ce-958d-e4c4422fbbec",
"observation_id": "9cd0a390-e34d-4465-a6b2-96c28d2a8e30",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 912.0,
"perimeter_px": 120.99082374572754,
"sharpness": {
"laplacian_var": 2015.7978180727025
"laplacian_var": 2015.5200402949245
},
"contrast": {
"p05": 9.0,
"p95": 152.0,
"dynamic_range": 143.0,
"mean_gray": 44.398148148148145,
"std_gray": 54.380933446352046
"mean_gray": 44.39506172839506,
"std_gray": 54.37703968357671
},
"geometry": {
"distance_to_center_norm": 0.8398146033287048,
@@ -424,7 +424,7 @@
"confidence": 0.5697620483284124
},
{
"observation_id": "383b965d-0d83-4e27-bbf4-7ee7d05c268b",
"observation_id": "6b068973-69f6-41c8-81ef-6db356a20ee8",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 902.5,
"perimeter_px": 120.18319702148438,
"sharpness": {
"laplacian_var": 2745.639665561602
"laplacian_var": 2740.63445067636
},
"contrast": {
"p05": 32.0,
"p95": 177.0,
"dynamic_range": 145.0,
"mean_gray": 80.70928462709284,
"std_gray": 61.574440146841106
"mean_gray": 80.6834094368341,
"std_gray": 61.587770697491976
},
"geometry": {
"distance_to_center_norm": 0.3646650016307831,
@@ -478,7 +478,7 @@
"confidence": 0.5768583617164568
},
{
"observation_id": "ad31171c-d98f-4beb-851c-78fade9d63db",
"observation_id": "5d792de6-5054-45ff-b15f-845d4ec465a0",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -508,14 +508,14 @@
"area_px": 893.0,
"perimeter_px": 119.55088233947754,
"sharpness": {
"laplacian_var": 1943.4951607986586
"laplacian_var": 1948.939605243103
},
"contrast": {
"p05": 24.0,
"p95": 173.0,
"dynamic_range": 149.0,
"mean_gray": 48.083333333333336,
"std_gray": 48.82684668079768
"mean_gray": 48.0570987654321,
"std_gray": 48.83909849905219
},
"geometry": {
"distance_to_center_norm": 0.42510050535202026,
@@ -532,7 +532,7 @@
"confidence": 0.5593704450665263
},
{
"observation_id": "9ef7510d-e8ac-4319-b544-5b0bb4d04ef3",
"observation_id": "643f3e29-c782-486a-9b58-c5ce915699a0",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 893.0,
"perimeter_px": 119.5506706237793,
"sharpness": {
"laplacian_var": 2048.8740681608547
"laplacian_var": 2045.5355346195124
},
"contrast": {
"p05": 35.0,
"p95": 178.0,
"dynamic_range": 143.0,
"mean_gray": 64.75195007800312,
"std_gray": 51.922442462759776
"p95": 177.0,
"dynamic_range": 142.0,
"mean_gray": 64.69578783151326,
"std_gray": 51.86192635290891
},
"geometry": {
"distance_to_center_norm": 0.4033917188644409,
@@ -586,7 +586,7 @@
"confidence": 0.5766374039623903
},
{
"observation_id": "e58e99a4-3249-47ca-89b8-ffbdffb64279",
"observation_id": "c45092ea-8787-4dd7-aa62-fa3ad42d76a3",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 883.5,
"perimeter_px": 119.10066223144531,
"sharpness": {
"laplacian_var": 2652.463625431952
"laplacian_var": 2652.335299923345
},
"contrast": {
"p05": 9.900000000000002,
"p95": 154.0,
"dynamic_range": 144.1,
"mean_gray": 83.20813771517997,
"std_gray": 63.92414467011476
"mean_gray": 83.20970266040689,
"std_gray": 63.92584098230543
},
"geometry": {
"distance_to_center_norm": 0.8780498504638672,
@@ -640,7 +640,7 @@
"confidence": 0.21364841201201337
},
{
"observation_id": "4b25b2b2-8fe4-460c-9361-1b6855114264",
"observation_id": "80179826-8c95-4092-b52f-e16c882399be",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -670,14 +670,14 @@
"area_px": 883.0,
"perimeter_px": 118.98820114135742,
"sharpness": {
"laplacian_var": 1980.897636908217
"laplacian_var": 1978.0963849520354
},
"contrast": {
"p05": 9.0,
"p95": 152.0,
"dynamic_range": 143.0,
"mean_gray": 50.14866979655712,
"std_gray": 57.463288632692084
"mean_gray": 50.14397496087637,
"std_gray": 57.455034528319544
},
"geometry": {
"distance_to_center_norm": 0.8014482259750366,
@@ -694,7 +694,7 @@
"confidence": 0.5755104606164277
},
{
"observation_id": "ad926c27-8c1e-40ae-825c-33ed7e227bd6",
"observation_id": "0cd273d3-15a7-44ab-9125-07b12333fbbb",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 883.5,
"perimeter_px": 118.91835594177246,
"sharpness": {
"laplacian_var": 2674.4317892528493
"laplacian_var": 2666.6728566178526
},
"contrast": {
"p05": 39.0,
"p95": 179.0,
"dynamic_range": 140.0,
"mean_gray": 104.45241809672387,
"std_gray": 63.85866803521955
"mean_gray": 104.4399375975039,
"std_gray": 63.85247644533479
},
"geometry": {
"distance_to_center_norm": 0.3904455602169037,
@@ -748,7 +748,7 @@
"confidence": 0.5705029634947052
},
{
"observation_id": "a5f5d98e-2096-47b5-a248-f8ddeec5a961",
"observation_id": "c2239474-5ade-4a6e-8b3f-b5266a8a167d",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -778,14 +778,14 @@
"area_px": 874.0,
"perimeter_px": 118.28922653198242,
"sharpness": {
"laplacian_var": 2663.604276633499
"laplacian_var": 2650.7599709500387
},
"contrast": {
"p05": 34.0,
"p05": 33.6,
"p95": 178.0,
"dynamic_range": 144.0,
"mean_gray": 88.93680884676145,
"std_gray": 63.35321221681951
"dynamic_range": 144.4,
"mean_gray": 88.8388625592417,
"std_gray": 63.34842545690418
},
"geometry": {
"distance_to_center_norm": 0.2551368772983551,
@@ -802,7 +802,7 @@
"confidence": 0.5461315019106076
},
{
"observation_id": "6e79bcda-9251-46b4-ad9c-676b936bd4f0",
"observation_id": "05f3f0a7-5029-4902-9ee2-ccfe905ea635",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 874.0,
"perimeter_px": 118.28604125976562,
"sharpness": {
"laplacian_var": 2514.406803296747
"laplacian_var": 2521.5375741067137
},
"contrast": {
"p05": 26.0,
"p95": 175.0,
"dynamic_range": 149.0,
"mean_gray": 89.83069620253164,
"std_gray": 67.32265597189581
"mean_gray": 89.7626582278481,
"std_gray": 67.34473937916567
},
"geometry": {
"distance_to_center_norm": 0.36455342173576355,
@@ -856,7 +856,7 @@
"confidence": 0.5763709732716893
},
{
"observation_id": "d59abaf8-b05a-4f64-83b2-415eac946d7f",
"observation_id": "de666775-686f-4379-a412-5b6fbc01f891",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -886,14 +886,14 @@
"area_px": 846.0,
"perimeter_px": 116.57271575927734,
"sharpness": {
"laplacian_var": 2853.532814582208
"laplacian_var": 2854.369717382867
},
"contrast": {
"p05": 9.0,
"p95": 153.0,
"dynamic_range": 144.0,
"mean_gray": 71.15156507413509,
"std_gray": 61.36675143138035
"std_gray": 61.36940911919802
},
"geometry": {
"distance_to_center_norm": 0.8536534309387207,
@@ -910,7 +910,7 @@
"confidence": 0.06519221426443914
},
{
"observation_id": "ea82ba11-2d08-4566-a6d0-2dae07cbb7d0",
"observation_id": "ab613931-e8ec-4d79-8b3a-db8afafbc0c7",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 838.0,
"perimeter_px": 115.8120174407959,
"sharpness": {
"laplacian_var": 2204.3747644940327
"laplacian_var": 2205.1411510486546
},
"contrast": {
"p05": 43.0,
"p95": 182.0,
"dynamic_range": 139.0,
"mean_gray": 85.4201680672269,
"std_gray": 57.72468644507164
"mean_gray": 85.40168067226891,
"std_gray": 57.70529297656737
},
"geometry": {
"distance_to_center_norm": 0.31469058990478516,
@@ -964,7 +964,7 @@
"confidence": 0.5349107016469481
},
{
"observation_id": "862a55ee-6cef-4f37-b8f8-9ed34c751112",
"observation_id": "56153fe9-c2f6-4205-96d6-934caffa8031",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 837.0,
"perimeter_px": 115.77438163757324,
"sharpness": {
"laplacian_var": 3320.569727104853
"laplacian_var": 3313.06931043934
},
"contrast": {
"p05": 28.0,
"p05": 27.0,
"p95": 177.0,
"dynamic_range": 149.0,
"mean_gray": 102.69051580698836,
"std_gray": 65.02594434150362
"dynamic_range": 150.0,
"mean_gray": 102.55906821963394,
"std_gray": 65.0403196729414
},
"geometry": {
"distance_to_center_norm": 0.2696802318096161,
@@ -1018,7 +1018,7 @@
"confidence": 0.5342723833872263
},
{
"observation_id": "973f2448-ec0c-49dc-9384-cc4d9afa5e43",
"observation_id": "4ee93f05-1264-43a1-ab4f-8de58187bce1",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 819.0,
"perimeter_px": 114.49213600158691,
"sharpness": {
"laplacian_var": 2490.299598217547
"laplacian_var": 2494.049394404266
},
"contrast": {
"p05": 37.0,
"p95": 181.0,
"dynamic_range": 144.0,
"mean_gray": 93.45811965811966,
"std_gray": 63.3405019415532
"mean_gray": 93.4034188034188,
"std_gray": 63.36545465009021
},
"geometry": {
"distance_to_center_norm": 0.1608557105064392,
@@ -1072,7 +1072,7 @@
"confidence": 0.5227826547122322
},
{
"observation_id": "cf4bc10d-4606-43f0-9ffd-0f2fac7caa10",
"observation_id": "90a91571-f55c-48d3-bb1a-b4725e77e1de",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 809.5,
"perimeter_px": 113.88841438293457,
"sharpness": {
"laplacian_var": 2734.782102704709
"laplacian_var": 2779.012463931227
},
"contrast": {
"p05": 31.0,
"p95": 180.0,
"dynamic_range": 149.0,
"mean_gray": 83.51384083044982,
"std_gray": 62.89396785475105
"mean_gray": 83.4878892733564,
"std_gray": 62.9207005619983
},
"geometry": {
"distance_to_center_norm": 0.034307073801755905,
@@ -1126,7 +1126,7 @@
"confidence": 0.5111500432161571
},
{
"observation_id": "451e075d-c50e-47e8-ba7c-4b3171fd1186",
"observation_id": "27b995d3-ce6a-48de-9012-9b8c02921702",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -1156,14 +1156,14 @@
"area_px": 783.0,
"perimeter_px": 111.9482650756836,
"sharpness": {
"laplacian_var": 2588.7234932229526
"laplacian_var": 2589.0745036928824
},
"contrast": {
"p05": 34.0,
"p95": 181.0,
"dynamic_range": 147.0,
"mean_gray": 117.8882882882883,
"std_gray": 65.09387640722198
"mean_gray": 117.88108108108108,
"std_gray": 65.09109557501385
},
"geometry": {
"distance_to_center_norm": 0.07005522400140762,
@@ -1180,7 +1180,7 @@
"confidence": 0.5046333482067283
},
{
"observation_id": "703fa1dc-4405-4ac7-a300-631884f608f9",
"observation_id": "12dd63af-98fa-4eeb-9ad7-efa2f409f95c",
"type": "aruco",
"marker_id": 73,
"marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 756.5,
"perimeter_px": 110.26076316833496,
"sharpness": {
"laplacian_var": 3001.1806489908986
"laplacian_var": 3001.4438068856352
},
"contrast": {
"p05": 11.0,
"p95": 160.0,
"dynamic_range": 149.0,
"mean_gray": 86.15037593984962,
"std_gray": 62.632505702193974
"mean_gray": 86.15225563909775,
"std_gray": 62.634766992984616
},
"geometry": {
"distance_to_center_norm": 0.8404671549797058,
@@ -1234,7 +1234,7 @@
"confidence": 0.13607001327160623
},
{
"observation_id": "3ab97c95-05a1-41ff-94ad-dcd042154b27",
"observation_id": "7f07424d-799e-47a8-b1aa-b57a5028cef6",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -1264,14 +1264,14 @@
"area_px": 747.0,
"perimeter_px": 109.46183013916016,
"sharpness": {
"laplacian_var": 3082.6927995200163
"laplacian_var": 3081.9171341207766
},
"contrast": {
"p05": 25.0,
"p95": 180.75,
"dynamic_range": 155.75,
"mean_gray": 82.50570342205323,
"std_gray": 65.73291798935243
"p95": 181.0,
"dynamic_range": 156.0,
"mean_gray": 82.50950570342205,
"std_gray": 65.73413227070886
},
"geometry": {
"distance_to_center_norm": 0.33940964937210083,
@@ -1288,7 +1288,7 @@
"confidence": 0.46988879526830113
},
{
"observation_id": "3a326354-d849-47f9-9d02-09e6884b9867",
"observation_id": "8c058f08-b46f-4f9f-b86a-ec4d14c0755d",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 748.0,
"perimeter_px": 109.43704223632812,
"sharpness": {
"laplacian_var": 2734.1143575879373
"laplacian_var": 2731.6417795544244
},
"contrast": {
"p05": 37.0,
"p95": 183.0,
"dynamic_range": 146.0,
"mean_gray": 90.7851711026616,
"std_gray": 62.05613067415894
"mean_gray": 90.77756653992395,
"std_gray": 62.04697373128968
},
"geometry": {
"distance_to_center_norm": 0.16754259169101715,
@@ -1342,7 +1342,7 @@
"confidence": 0.4655541127751829
},
{
"observation_id": "51149c35-94f6-41cb-9f2c-0383cdb6ff77",
"observation_id": "0575af11-1ada-4ef9-a3f4-e16ecab853e9",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
@@ -1372,14 +1372,14 @@
"area_px": 748.0,
"perimeter_px": 109.43704223632812,
"sharpness": {
"laplacian_var": 2598.4781495630637
"laplacian_var": 2593.986353603693
},
"contrast": {
"p05": 43.0,
"p95": 184.0,
"dynamic_range": 141.0,
"mean_gray": 95.24098671726755,
"std_gray": 60.06988963509188
"mean_gray": 95.23529411764706,
"std_gray": 60.060829751630074
},
"geometry": {
"distance_to_center_norm": 0.2758673429489136,
@@ -1396,7 +1396,7 @@
"confidence": 0.4655541127751829
},
{
"observation_id": "075e4459-6278-48ea-a9f6-2ba63b077901",
"observation_id": "1ea3439d-da47-4f2b-b7fa-6b207f63aa32",
"type": "aruco",
"marker_id": 82,
"marker_size_m": 0.025,
@@ -1426,14 +1426,14 @@
"area_px": 738.0,
"perimeter_px": 109.0318832397461,
"sharpness": {
"laplacian_var": 2141.6871732468
"laplacian_var": 2140.0243825491257
},
"contrast": {
"p05": 10.0,
"p95": 155.25,
"dynamic_range": 145.25,
"mean_gray": 76.53100775193798,
"std_gray": 63.752405394291436
"mean_gray": 76.52325581395348,
"std_gray": 63.74690630782234
},
"geometry": {
"distance_to_center_norm": 0.784397304058075,
@@ -1450,7 +1450,7 @@
"confidence": 0.49001748422717006
},
{
"observation_id": "f6539dd5-bf01-474b-914f-64d7714de969",
"observation_id": "ad561d4a-8337-49f5-bd33-eb424424a00a",
"type": "aruco",
"marker_id": 101,
"marker_size_m": 0.025,
@@ -1480,14 +1480,14 @@
"area_px": 721.5,
"perimeter_px": 107.6905746459961,
"sharpness": {
"laplacian_var": 2834.482741244646
"laplacian_var": 2836.462899974805
},
"contrast": {
"p05": 12.0,
"p95": 162.0,
"dynamic_range": 150.0,
"mean_gray": 81.1765873015873,
"std_gray": 64.20251447212925
"mean_gray": 81.18253968253968,
"std_gray": 64.2073341498413
},
"geometry": {
"distance_to_center_norm": 0.7647988200187683,
@@ -1504,7 +1504,7 @@
"confidence": 0.46225891142368675
},
{
"observation_id": "623d144a-c09a-4ccf-bc58-e4eec3953e12",
"observation_id": "f65b9148-156d-4bc6-b562-87cfe1ed9259",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 721.5,
"perimeter_px": 107.59993743896484,
"sharpness": {
"laplacian_var": 2660.0151906675815
"laplacian_var": 2658.2369728457993
},
"contrast": {
"p05": 35.0,
"p95": 183.0,
"dynamic_range": 148.0,
"mean_gray": 90.21584158415841,
"std_gray": 63.175466369662914
"mean_gray": 90.22376237623763,
"std_gray": 63.17769556993745
},
"geometry": {
"distance_to_center_norm": 0.2656291127204895,
@@ -1558,7 +1558,7 @@
"confidence": 0.43211414091114625
},
{
"observation_id": "a04ef5a6-8c05-47d1-82e3-c5217414dba6",
"observation_id": "a0af688e-7b84-46fb-939a-f55a7f3c0648",
"type": "aruco",
"marker_id": 52,
"marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 714.0,
"perimeter_px": 107.08902359008789,
"sharpness": {
"laplacian_var": 2312.7283378338443
"laplacian_var": 2312.241416304669
},
"contrast": {
"p05": 11.0,
"p95": 156.2,
"dynamic_range": 145.2,
"mean_gray": 63.881287726358146,
"std_gray": 60.10436925191657
"mean_gray": 63.87726358148893,
"std_gray": 60.10787607924179
},
"geometry": {
"distance_to_center_norm": 0.6260060667991638,
@@ -1612,7 +1612,7 @@
"confidence": 0.45411789642863376
},
{
"observation_id": "9f35614c-3c18-40b6-867b-45331a87dc31",
"observation_id": "3cf29159-b06b-4f3b-b002-8748c3ea6c07",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -1642,14 +1642,14 @@
"area_px": 470.0,
"perimeter_px": 106.38676452636719,
"sharpness": {
"laplacian_var": 985.058036867252
"laplacian_var": 984.933036867252
},
"contrast": {
"p05": 24.0,
"p95": 105.0,
"dynamic_range": 81.0,
"mean_gray": 44.0625,
"std_gray": 28.878793778716528
"mean_gray": 44.05681818181818,
"std_gray": 28.867687171010182
},
"geometry": {
"distance_to_center_norm": 0.2710713744163513,
@@ -1666,7 +1666,7 @@
"confidence": 0.11347147338995772
},
{
"observation_id": "fffeaf72-1025-41b3-903f-a94683cc79d3",
"observation_id": "b7ea259b-02a2-4875-86b5-af86afc269b9",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
"confidence": 0.4377857805109236
},
{
"observation_id": "d77f8ca2-7c57-4f9c-a032-5f6a16014bf7",
"observation_id": "6839e8c8-5608-4311-bce7-6d52f97f1538",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
"confidence": 0.22473325223116958
},
{
"observation_id": "7fd0d353-9d1c-4cba-80d7-b110152c157a",
"observation_id": "013de6c6-ce22-4df9-b048-7c7a0279a96c",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -1804,14 +1804,14 @@
"area_px": 440.5,
"perimeter_px": 94.61818790435791,
"sharpness": {
"laplacian_var": 4912.478514385603
"laplacian_var": 4899.112199327115
},
"contrast": {
"p05": 36.0,
"p95": 187.0,
"dynamic_range": 151.0,
"mean_gray": 97.16262975778547,
"std_gray": 65.87608574186197
"mean_gray": 97.14186851211073,
"std_gray": 65.87818220493268
},
"geometry": {
"distance_to_center_norm": 0.07143235951662064,
@@ -1828,7 +1828,61 @@
"confidence": 0.13402725127354712
},
{
"observation_id": "ef53b68f-0a71-4aa3-a13a-08e6ecf8d6f0",
"observation_id": "981dec08-d6fe-4755-834f-153bd296b764",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
717.0,
417.0
],
[
711.0,
427.0
],
[
700.0,
398.0
],
[
706.0,
387.0
]
],
"center_px": [
708.5,
407.25
],
"quality": {
"area_px": 292.5,
"perimeter_px": 87.16108322143555,
"sharpness": {
"laplacian_var": 6461.981426746247
},
"contrast": {
"p05": 41.0,
"p95": 181.0,
"dynamic_range": 140.0,
"mean_gray": 106.12227074235808,
"std_gray": 55.97272325477401
},
"geometry": {
"distance_to_center_norm": 0.11332587897777557,
"distance_to_border_px": 293.0
},
"edge_ratio": 2.7399550161623867,
"edge_lengths_px": [
11.661903381347656,
31.016124725341797,
12.529964447021484,
31.95309066772461
]
},
"confidence": 0.07116905162666477
},
{
"observation_id": "83765162-def1-4e98-97bf-c03cf03865bb",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -1858,14 +1912,14 @@
"area_px": 279.0,
"perimeter_px": 85.53948974609375,
"sharpness": {
"laplacian_var": 5350.302358841365
"laplacian_var": 5411.821475563013
},
"contrast": {
"p05": 40.0,
"p95": 181.0,
"dynamic_range": 141.0,
"mean_gray": 100.61572052401746,
"std_gray": 56.25837864453868
"mean_gray": 100.60698689956332,
"std_gray": 56.321931351678934
},
"geometry": {
"distance_to_center_norm": 0.17456230521202087,

356
data/evaluations/Scene6/render_f_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:17Z",
"created_utc": "2026-06-01T20:35:48Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -72,170 +72,152 @@
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
4
],
"rms": [
0.015988966336095724,
0.015421871080202657,
0.010527356420762548,
0.008207263624984158,
0.007741722661728018,
0.007713084179572804,
0.007711852070541078,
0.0077117974468512785,
0.007711795079959601,
0.0077117949774928776,
0.007711794973039883
0.007189561425650678,
0.00035233980585193235,
8.676990844353467e-05,
8.674230735069137e-05,
8.674229845899342e-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,
9.765625e-07
6.25e-05
]
},
"residual_rms_px": 17.837676532658907,
"residual_median_px": 15.068235448623113,
"residual_max_px": 32.08810668336048,
"sigma2_normalized": 6.690575441617456e-05
"residual_rms_px": 0.2180672023499854,
"residual_median_px": 0.19091884925034358,
"residual_max_px": 0.4011931691837405,
"sigma2_normalized": 8.46475463451993e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.32418292760849,
0.9000328183174133,
0.29128387570381165
0.3164854645729065,
0.9485961198806763,
0.0015234581660479307
],
[
0.9459790587425232,
-0.3066740930080414,
-0.10523585230112076
0.9183023571968079,
-0.30597493052482605,
-0.2511974275112152
],
[
-0.005386497359722853,
0.30966413021087646,
-0.9508307576179504
-0.23781876266002655,
0.08089932799339294,
-0.9679346680641174
]
],
"translation_m": [
0.12319494038820267,
-0.1995663046836853,
1.2941995859146118
0.12612544000148773,
-0.20016779005527496,
1.4976756572723389
],
"rvec_rad": [
2.3354138537126996,
1.6699160253082743,
0.25862488701583686
2.3744766082527025,
1.7112859801003257,
-0.21659926436664798
]
},
"camera_in_world": {
"position_m": [
0.15581905841827393,
-0.5728484988212585,
1.1736785173416138
0.5000730752944946,
-0.3020493984222412,
1.399178385734558
],
"position_mm": [
155.81906127929688,
-572.8485107421875,
1173.678466796875
500.0730895996094,
-302.0494079589844,
1399.1783447265625
],
"orientation_deg": {
"roll": 161.96072387695312,
"pitch": 0.3086250424385071,
"yaw": 71.08363342285156
"roll": 175.22235107421875,
"pitch": 13.75783634185791,
"yaw": 70.98390197753906
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0006253809453642744,
0.00035637310913420325,
-9.118129641410006e-05,
2.957654644648928e-06,
2.5073106318008734e-05,
0.00013631390364488865
1.6610815998646004e-07,
1.0366165526862369e-07,
1.1815800617935081e-08,
-1.2204329358179779e-09,
-5.688139381043219e-10,
3.93541092359241e-09
],
[
0.0003563731091342026,
0.00036068347638909374,
3.176220905499127e-05,
2.737226610377748e-05,
1.5710451395954476e-05,
6.991540054621837e-05
1.0366165526862445e-07,
8.958955623547404e-08,
-8.199451551194782e-09,
2.496821226693994e-09,
-7.59644907416175e-10,
5.941942510740291e-09
],
[
-9.118129641410732e-05,
3.1762209054986286e-05,
0.0016823935839940145,
5.601495211708793e-05,
-6.774336604988232e-07,
-0.0004970114012692266
1.1815800617929045e-08,
-8.199451551200251e-09,
6.416018200101206e-07,
4.176007768110318e-09,
-8.985698937711834e-09,
-1.1560636053482832e-07
],
[
2.9576546446487386e-06,
2.737226610377741e-05,
5.6014952117088156e-05,
1.0465870545779827e-05,
7.81292462326494e-07,
-3.487373623045474e-06
-1.2204329358178085e-09,
2.496821226694082e-09,
4.176007768110514e-09,
1.393795481010195e-09,
-7.28400021886687e-11,
1.2577739535284873e-09
],
[
2.5073106318008747e-05,
1.5710451395954544e-05,
-6.774336604985214e-07,
7.812924623265067e-07,
5.359199144064958e-06,
8.523355283725198e-06
-5.688139381042001e-10,
-7.596449074161997e-10,
-8.985698937712041e-09,
-7.284000218868156e-11,
8.317118603798586e-10,
2.1753052798055423e-09
],
[
0.0001363139036448907,
6.991540054621991e-05,
-0.0004970114012692257,
-3.4873736230453984e-06,
8.523355283725279e-06,
0.00026510864570004943
3.935410923593987e-09,
5.94194251074158e-09,
-1.1560636053482783e-07,
1.2577739535285164e-09,
2.1753052798054613e-09,
3.812121544818363e-08
]
],
"parameter_std": {
"rvec_std_deg": [
1.4328309525614622,
1.088142456957924,
2.350100495884073
0.023351679219968693,
0.01714949457285982,
0.04589394871775925
],
"tvec_std_m": [
0.003235099773697842,
0.00231499441555805,
0.016282157280288426
3.733357042944319e-05,
2.8839415049197142e-05,
0.00019524655041301914
]
},
"camera_center_std_m": [
0.037301661128544904,
0.03151700361056652,
0.027335390748971157
0.0007444498305805313,
0.0007673294230495382,
0.00031342491414188754
],
"camera_center_std_mm": [
37.3016611285449,
31.517003610566523,
27.335390748971157
0.7444498305805314,
0.7673294230495382,
0.31342491414188756
],
"orientation_std_deg": {
"roll": 1.7696296163575087,
"pitch": 1.6261150957211297,
"yaw": 0.5569974559815964
"roll": 0.02402578847699644,
"pitch": 0.02929683100032287,
"yaw": 0.005056620047423987
}
}
},
@@ -248,10 +230,10 @@
666.0
],
"projected_center_px": [
1229.885986328125,
637.3207397460938
1234.311767578125,
665.8286743164062
],
"reprojection_error_px": 28.97283343416141,
"reprojection_error_px": 0.3557407941588843,
"confidence": 0.2988751797371847
},
{
@@ -261,10 +243,10 @@
547.75
],
"projected_center_px": [
859.0208129882812,
548.7762451171875
831.4698486328125,
547.9041748046875
],
"reprojection_error_px": 27.539940569589128,
"reprojection_error_px": 0.15709543387286667,
"confidence": 0.5954364184044425
},
{
@@ -274,10 +256,10 @@
626.75
],
"projected_center_px": [
1196.442138671875,
604.56494140625
1196.0869140625,
626.8515625
],
"reprojection_error_px": 22.18946397309516,
"reprojection_error_px": 0.13367496275108479,
"confidence": 0.5697620483284124
},
{
@@ -287,10 +269,10 @@
623.75
],
"projected_center_px": [
595.09326171875,
624.5011596679688
593.9185180664062,
623.6762084960938
],
"reprojection_error_px": 1.5390233564966216,
"reprojection_error_px": 0.18396609675167702,
"confidence": 0.5768583617164568
},
{
@@ -300,10 +282,10 @@
651.75
],
"projected_center_px": [
764.9805908203125,
644.6790161132812
750.7473754882812,
651.6285400390625
],
"reprojection_error_px": 15.667026929549918,
"reprojection_error_px": 0.28030637886440596,
"confidence": 0.5593704450665263
},
{
@@ -313,10 +295,10 @@
639.0
],
"projected_center_px": [
535.6954956054688,
641.8436279296875
540.5757446289062,
638.91552734375
],
"reprojection_error_px": 5.582963574981384,
"reprojection_error_px": 0.11345870818088925,
"confidence": 0.5766374039623903
},
{
@@ -326,10 +308,10 @@
594.75
],
"projected_center_px": [
1236.2076416015625,
574.9273681640625
1240.1927490234375,
594.7801513671875
],
"reprojection_error_px": 20.28203819944534,
"reprojection_error_px": 0.3087268494023242,
"confidence": 0.21364841201201337
},
{
@@ -339,10 +321,10 @@
548.5
],
"projected_center_px": [
1198.764892578125,
535.1300659179688
1197.4903564453125,
548.5569458007812
],
"reprojection_error_px": 13.429634789973125,
"reprojection_error_px": 0.05775657861775242,
"confidence": 0.5755104606164277
},
{
@@ -352,10 +334,10 @@
605.25
],
"projected_center_px": [
478.2854919433594,
610.4059448242188
491.5726013183594,
605.2124633789062
],
"reprojection_error_px": 14.184744982177442,
"reprojection_error_px": 0.08173095711329385,
"confidence": 0.5705029634947052
},
{
@@ -365,10 +347,10 @@
542.75
],
"projected_center_px": [
598.1739501953125,
544.5440063476562
598.8740234375,
542.7755126953125
],
"reprojection_error_px": 1.884221895879417,
"reprojection_error_px": 0.1266203406701501,
"confidence": 0.5461315019106076
},
{
@@ -378,10 +360,10 @@
614.5
],
"projected_center_px": [
734.8806762695312,
610.26611328125
722.8255615234375,
614.344970703125
],
"reprojection_error_px": 12.612543968946575,
"reprojection_error_px": 0.23337280260347978,
"confidence": 0.5763709732716893
},
{
@@ -391,10 +373,10 @@
485.0
],
"projected_center_px": [
1250.31396484375,
477.5257873535156
1254.05908203125,
484.9994201660156
],
"reprojection_error_px": 8.447261534728455,
"reprojection_error_px": 0.19091884925034358,
"confidence": 0.06519221426443914
},
{
@@ -404,10 +386,10 @@
495.75
],
"projected_center_px": [
428.29791259765625,
500.63134765625
452.8602600097656,
495.8934631347656
],
"reprojection_error_px": 25.179767214456277,
"reprojection_error_px": 0.20027215459839418,
"confidence": 0.5349107016469481
},
{
@@ -417,10 +399,10 @@
535.75
],
"projected_center_px": [
742.6448974609375,
534.3582153320312
731.5404663085938,
535.8770141601562
],
"reprojection_error_px": 11.4795798140556,
"reprojection_error_px": 0.3170225123051629,
"confidence": 0.5342723833872263
},
{
@@ -430,10 +412,10 @@
435.0
],
"projected_center_px": [
537.5664672851562,
436.9839172363281
548.5076293945312,
434.8699645996094
],
"reprojection_error_px": 11.358139442029238,
"reprojection_error_px": 0.2750503876565867,
"confidence": 0.5227826547122322
},
{
@@ -443,10 +425,10 @@
376.25
],
"projected_center_px": [
660.7316284179688,
377.5531005859375
659.2927856445312,
376.24273681640625
],
"reprojection_error_px": 1.9731431539559507,
"reprojection_error_px": 0.04339775586215262,
"confidence": 0.5111500432161571
},
{
@@ -456,10 +438,10 @@
313.5
],
"projected_center_px": [
612.6131591796875,
313.4728698730469
617.80859375,
313.50982666015625
],
"reprojection_error_px": 5.38690913856671,
"reprojection_error_px": 0.19165833086221148,
"confidence": 0.5046333482067283
},
{
@@ -469,10 +451,10 @@
251.25
],
"projected_center_px": [
1248.7132568359375,
266.02276611328125
1247.787109375,
251.29344177246094
],
"reprojection_error_px": 14.822503526316325,
"reprojection_error_px": 0.29037730766614406,
"confidence": 0.13607001327160623
},
{
@@ -482,10 +464,10 @@
150.5
],
"projected_center_px": [
794.311767578125,
156.6647186279297
775.31005859375,
150.4388427734375
],
"reprojection_error_px": 20.27185543439631,
"reprojection_error_px": 0.31603249503657765,
"confidence": 0.46988879526830113
},
{
@@ -495,10 +477,10 @@
264.25
],
"projected_center_px": [
547.9772338867188,
261.2806396484375
562.7272338867188,
264.1536865234375
],
"reprojection_error_px": 15.068235448623113,
"reprojection_error_px": 0.09896757894123684,
"confidence": 0.4655541127751829
},
{
@@ -508,10 +490,10 @@
240.75
],
"projected_center_px": [
444.7985534667969,
234.3897247314453
476.083251953125,
241.11489868164062
],
"reprojection_error_px": 32.08810668336048,
"reprojection_error_px": 0.4011931691837405,
"confidence": 0.4655541127751829
},
{
@@ -521,10 +503,10 @@
261.5
],
"projected_center_px": [
1211.77392578125,
274.39349365234375
1207.31689453125,
261.3648376464844
],
"reprojection_error_px": 13.5833950154835,
"reprojection_error_px": 0.22758838831109116,
"confidence": 0.49001748422717006
},
{
@@ -534,10 +516,10 @@
153.5
],
"projected_center_px": [
1171.5716552734375,
172.0304718017578
1162.2952880859375,
153.47718811035156
],
"reprojection_error_px": 20.74299019506461,
"reprojection_error_px": 0.050708904910428454,
"confidence": 0.46225891142368675
},
{
@@ -547,10 +529,10 @@
177.75
],
"projected_center_px": [
553.9757690429688,
170.9059600830078
570.480224609375,
177.69464111328125
],
"reprojection_error_px": 17.885499464837217,
"reprojection_error_px": 0.05878496757769568,
"confidence": 0.43211414091114625
},
{
@@ -560,10 +542,10 @@
160.75
],
"projected_center_px": [
1068.61181640625,
174.57406616210938
1054.4337158203125,
160.72262573242188
],
"reprojection_error_px": 19.934055677187448,
"reprojection_error_px": 0.18574405282143913,
"confidence": 0.45411789642863376
},
{
@@ -573,10 +555,10 @@
64.0
],
"projected_center_px": [
1182.5391845703125,
87.41521453857422
1172.7916259765625,
64.03759002685547
],
"reprojection_error_px": 25.283755934471948,
"reprojection_error_px": 0.2117374406252391,
"confidence": 0.4377857805109236
},
{
@@ -586,10 +568,10 @@
42.0
],
"projected_center_px": [
1003.1915283203125,
55.03712463378906
987.8937377929688,
42.098148345947266
],
"reprojection_error_px": 20.20909239881798,
"reprojection_error_px": 0.17405071370066647,
"confidence": 0.22473325223116958
}
]

262
data/evaluations/Scene6/render_g_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:16Z",
"created_utc": "2026-06-01T20:35:46Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -16,7 +16,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -35,7 +35,7 @@
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_g.png",
"image_sha256": "2423c2cc6863af703bfa396eb9a633393329e65fa83517520e9b005c4c379a97",
"image_sha256": "9d14a615b0c9a9782e85304ca4f4cabbbc371f297ffc43cce4fda8eb9013e9e4",
"width_px": 1280,
"height_px": 720
},
@@ -46,7 +46,7 @@
},
"detections": [
{
"observation_id": "763de97d-6ba9-4a64-8a04-c02cf02ddc36",
"observation_id": "a4d257fc-59c2-4ce0-aa06-0a40c6228d9f",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1014.0,
"perimeter_px": 127.50994110107422,
"sharpness": {
"laplacian_var": 2681.4265798235533
"laplacian_var": 2679.560300753786
},
"contrast": {
"p05": 12.0,
"p95": 162.0,
"dynamic_range": 150.0,
"mean_gray": 56.64244186046512,
"std_gray": 62.1931542152882
"std_gray": 62.18941481448069
},
"geometry": {
"distance_to_center_norm": 0.14883364737033844,
@@ -100,7 +100,7 @@
"confidence": 0.6173789204094284
},
{
"observation_id": "6368b1bc-8283-41ec-bb00-1dff4027e4ea",
"observation_id": "84d1944a-26ce-40da-a76d-c9bc5a5651cc",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 969.0,
"perimeter_px": 124.60850143432617,
"sharpness": {
"laplacian_var": 3979.8932528650216
"laplacian_var": 3981.2152867633267
},
"contrast": {
"p05": 8.0,
"p95": 157.0,
"dynamic_range": 149.0,
"mean_gray": 69.89830508474576,
"std_gray": 64.83468711671027
"mean_gray": 69.89060092449922,
"std_gray": 64.83625496496803
},
"geometry": {
"distance_to_center_norm": 0.3135553300380707,
@@ -154,7 +154,7 @@
"confidence": 0.6160882115990324
},
{
"observation_id": "356923fd-507f-431d-bf2a-a3cd3b0e35c0",
"observation_id": "49e34f6d-f764-4bc0-af2d-379b08bba917",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 585.0,
"perimeter_px": 118.4101505279541,
"sharpness": {
"laplacian_var": 2711.5309076496237
"laplacian_var": 2710.6619421323826
},
"contrast": {
"p05": 27.0,
"p95": 192.0,
"dynamic_range": 165.0,
"mean_gray": 86.72413793103448,
"std_gray": 67.12559675116017
"mean_gray": 86.7264367816092,
"std_gray": 67.1257602705636
},
"geometry": {
"distance_to_center_norm": 0.31743836402893066,
@@ -208,7 +208,7 @@
"confidence": 0.2722366816212343
},
{
"observation_id": "12d3f243-4ef1-48e9-8223-1ea33a2b51db",
"observation_id": "9145e7ac-1eaf-4d97-96b2-d2f433f23acf",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 820.0,
"perimeter_px": 114.87655830383301,
"sharpness": {
"laplacian_var": 4194.58501464826
"laplacian_var": 4196.858238691975
},
"contrast": {
"p05": 9.0,
"p95": 153.0,
"dynamic_range": 144.0,
"mean_gray": 75.88342440801458,
"std_gray": 62.14192198845438
"mean_gray": 75.88706739526411,
"std_gray": 62.13984754100919
},
"geometry": {
"distance_to_center_norm": 0.8841893672943115,
@@ -262,7 +262,7 @@
"confidence": 0.3490767193505014
},
{
"observation_id": "a05dcb8e-7fe0-443c-b93e-21421f81bbaf",
"observation_id": "def83a95-24f2-42b2-991a-a3834313061f",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 820.0,
"perimeter_px": 114.56854248046875,
"sharpness": {
"laplacian_var": 3858.9366012961877
"laplacian_var": 3858.143503072132
},
"contrast": {
"p05": 41.0,
"p95": 183.0,
"dynamic_range": 142.0,
"mean_gray": 94.33761467889909,
"std_gray": 61.72831683188356
"mean_gray": 94.3302752293578,
"std_gray": 61.73638170908426
},
"geometry": {
"distance_to_center_norm": 0.4609958529472351,
@@ -316,7 +316,7 @@
"confidence": 0.5331747682067169
},
{
"observation_id": "59b95f9c-ac96-4440-8a20-c30bb3307aab",
"observation_id": "bd6ad1b2-3f80-43c3-abee-77df574dd546",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 779.0,
"perimeter_px": 112.11092758178711,
"sharpness": {
"laplacian_var": 2825.600910170162
"laplacian_var": 2823.9994064107636
},
"contrast": {
"p05": 9.0,
"p95": 153.0,
"dynamic_range": 144.0,
"mean_gray": 53.080827067669176,
"std_gray": 58.942968555826084
"mean_gray": 53.078947368421055,
"std_gray": 58.940659023377165
},
"geometry": {
"distance_to_center_norm": 0.7917603254318237,
@@ -370,7 +370,7 @@
"confidence": 0.43254677700170213
},
{
"observation_id": "78397926-987b-4643-a0a5-d171d2310a39",
"observation_id": "6920bd68-63a7-4d49-b390-1b3975de44e5",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 760.0,
"perimeter_px": 110.65593338012695,
"sharpness": {
"laplacian_var": 3796.770404629996
"laplacian_var": 3796.3907053818753
},
"contrast": {
"p05": 9.0,
"p95": 154.0,
"dynamic_range": 145.0,
"mean_gray": 86.72744360902256,
"std_gray": 63.363545283612986
"mean_gray": 86.72556390977444,
"std_gray": 63.361594062378316
},
"geometry": {
"distance_to_center_norm": 0.8453760743141174,
@@ -424,7 +424,7 @@
"confidence": 0.27711751756945874
},
{
"observation_id": "ebbfb702-d4c8-4f01-bc35-5b58f3f47483",
"observation_id": "a5dcc4cd-1e18-4097-afc6-91d18bb5ab2f",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 760.0,
"perimeter_px": 110.37932586669922,
"sharpness": {
"laplacian_var": 4206.93166251335
"laplacian_var": 4208.742983268067
},
"contrast": {
"p05": 38.0,
"p95": 183.0,
"dynamic_range": 145.0,
"mean_gray": 90.94528301886793,
"std_gray": 62.32470380326876
"mean_gray": 90.93962264150943,
"std_gray": 62.3285886118735
},
"geometry": {
"distance_to_center_norm": 0.33771631121635437,
@@ -478,7 +478,7 @@
"confidence": 0.48073279309443956
},
{
"observation_id": "1f4c0e38-1760-4207-b0ef-b0f9bb981281",
"observation_id": "d28799e8-efbc-4175-9fd0-bf0e4e1daa4a",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
@@ -508,14 +508,14 @@
"area_px": 742.0,
"perimeter_px": 109.1956901550293,
"sharpness": {
"laplacian_var": 4117.812219813365
"laplacian_var": 4108.041346026957
},
"contrast": {
"p05": 44.0,
"p95": 185.0,
"dynamic_range": 141.0,
"mean_gray": 96.6116504854369,
"std_gray": 60.56568816345432
"mean_gray": 96.59029126213592,
"std_gray": 60.54549042327412
},
"geometry": {
"distance_to_center_norm": 0.40306055545806885,
@@ -532,7 +532,7 @@
"confidence": 0.45546210617301425
},
{
"observation_id": "c6a5a5fd-a284-4772-abe9-40d6eabae7df",
"observation_id": "275b0eb1-4894-4c80-a316-a7387461bdbe",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 741.0,
"perimeter_px": 109.0573844909668,
"sharpness": {
"laplacian_var": 3825.648195646144
"laplacian_var": 3824.326558219243
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 121.5925925925926,
"std_gray": 65.2258312935706
"mean_gray": 121.57504873294347,
"std_gray": 65.22597338143089
},
"geometry": {
"distance_to_center_norm": 0.2665036618709564,
@@ -586,7 +586,7 @@
"confidence": 0.47991555158957017
},
{
"observation_id": "3197434e-b54e-462f-9f4b-e0a01d318c16",
"observation_id": "d289f2f5-c922-43ff-bf05-d63692e4dda6",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 740.0,
"perimeter_px": 109.00359725952148,
"sharpness": {
"laplacian_var": 4043.7872849765745
"laplacian_var": 4049.955845863304
},
"contrast": {
"p05": 28.0,
"p95": 180.0,
"dynamic_range": 152.0,
"mean_gray": 83.10526315789474,
"std_gray": 64.49450035923736
"mean_gray": 83.046783625731,
"std_gray": 64.50807824041048
},
"geometry": {
"distance_to_center_norm": 0.20057930052280426,
@@ -640,7 +640,7 @@
"confidence": 0.4668259742313624
},
{
"observation_id": "bf3cf2dd-7992-43d9-9ecf-309c4b5e590a",
"observation_id": "0ccf6f78-d725-45c7-be0e-40ae9f3d6bda",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
@@ -670,14 +670,14 @@
"area_px": 721.5,
"perimeter_px": 107.85333442687988,
"sharpness": {
"laplacian_var": 2859.238793322922
"laplacian_var": 2863.4885339838656
},
"contrast": {
"p05": 8.0,
"p95": 152.0,
"dynamic_range": 144.0,
"mean_gray": 46.23391812865497,
"std_gray": 55.682123599472234
"mean_gray": 46.21832358674464,
"std_gray": 55.68036648590285
},
"geometry": {
"distance_to_center_norm": 0.7856342196464539,
@@ -694,7 +694,7 @@
"confidence": 0.39662908657084783
},
{
"observation_id": "8b8e20d2-8c26-4215-8724-205c94abe166",
"observation_id": "63ddf3cf-e0b3-4bcd-badd-32e3165a777e",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 702.0,
"perimeter_px": 106.57870483398438,
"sharpness": {
"laplacian_var": 3738.641491399633
"laplacian_var": 3739.394998413661
},
"contrast": {
"p05": 8.0,
"p95": 151.0,
"dynamic_range": 143.0,
"mean_gray": 79.8376753507014,
"std_gray": 61.863542569151534
"mean_gray": 79.83366733466934,
"std_gray": 61.85893180184156
},
"geometry": {
"distance_to_center_norm": 0.8364452719688416,
@@ -748,7 +748,7 @@
"confidence": 0.1698001278724927
},
{
"observation_id": "912ce9dd-acd3-454c-80a4-919a11125a75",
"observation_id": "0a1f687c-4f88-4b31-876e-4220c936413a",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
@@ -778,14 +778,14 @@
"area_px": 702.0,
"perimeter_px": 106.47352981567383,
"sharpness": {
"laplacian_var": 3499.3790833532385
"laplacian_var": 3499.6889425081677
},
"contrast": {
"p05": 8.0,
"p95": 151.0,
"dynamic_range": 143.0,
"mean_gray": 58.17505030181086,
"std_gray": 59.26894964141904
"mean_gray": 58.16901408450704,
"std_gray": 59.26039463136398
},
"geometry": {
"distance_to_center_norm": 0.8423811793327332,
@@ -802,7 +802,7 @@
"confidence": 0.07718187630567852
},
{
"observation_id": "2fe59fee-682b-4d8a-95ce-42484be3cfb7",
"observation_id": "76b141bb-8ca5-4423-83d1-11307aff3bde",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 703.5,
"perimeter_px": 106.30549621582031,
"sharpness": {
"laplacian_var": 3423.6220056759066
"laplacian_var": 3417.4647158605558
},
"contrast": {
"p05": 14.0,
"p95": 164.0,
"dynamic_range": 150.0,
"mean_gray": 67.61368209255534,
"std_gray": 62.89008371517526
"p95": 163.2,
"dynamic_range": 149.2,
"mean_gray": 67.53722334004024,
"std_gray": 62.84248715548856
},
"geometry": {
"distance_to_center_norm": 0.3038310110569,
@@ -856,7 +856,7 @@
"confidence": 0.4316478958478293
},
{
"observation_id": "6eacf97d-3fcb-47b0-95b6-11166b9c00ea",
"observation_id": "d0b19e27-19b7-4164-8b48-f64a0227301e",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -886,14 +886,14 @@
"area_px": 665.0,
"perimeter_px": 103.3526554107666,
"sharpness": {
"laplacian_var": 3851.316001899335
"laplacian_var": 3858.0529257067715
},
"contrast": {
"p05": 30.0,
"p95": 180.0,
"dynamic_range": 150.0,
"mean_gray": 92.79700854700855,
"std_gray": 66.43391607248833
"mean_gray": 92.75854700854701,
"std_gray": 66.41947305803939
},
"geometry": {
"distance_to_center_norm": 0.1222480833530426,
@@ -910,7 +910,7 @@
"confidence": 0.4181682027393045
},
{
"observation_id": "dc2d3fcb-bfbe-49de-91ef-99ed4560be53",
"observation_id": "7fc37646-f6c6-4fc2-9805-fec5972cd342",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 629.0,
"perimeter_px": 100.5296630859375,
"sharpness": {
"laplacian_var": 4339.418041410656
"laplacian_var": 4328.355062705159
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 89.80733944954129,
"std_gray": 67.27664058312388
"mean_gray": 89.78669724770643,
"std_gray": 67.28331109180901
},
"geometry": {
"distance_to_center_norm": 0.026040121912956238,
@@ -964,7 +964,7 @@
"confidence": 0.39668368657567366
},
{
"observation_id": "cba4680c-cf60-4c3b-9dc3-625dbe7469f9",
"observation_id": "caff7423-f6dd-4f9c-a09d-31144a8c3379",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 612.0,
"perimeter_px": 99.30825424194336,
"sharpness": {
"laplacian_var": 4024.9598230657693
"laplacian_var": 4003.4312264092396
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 80.71733966745843,
"std_gray": 63.72177058219021
"mean_gray": 80.6769596199525,
"std_gray": 63.700346346961375
},
"geometry": {
"distance_to_center_norm": 0.16964846849441528,
@@ -1018,7 +1018,7 @@
"confidence": 0.3829765144945479
},
{
"observation_id": "9fa2b583-9d49-4fb2-8322-eff342ad82b1",
"observation_id": "d7ba2d94-f46c-45f6-9e23-60a89878215a",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 592.0,
"perimeter_px": 98.05634689331055,
"sharpness": {
"laplacian_var": 3685.9576063481277
"laplacian_var": 3688.795044771773
},
"contrast": {
"p05": 10.0,
"p95": 166.0,
"dynamic_range": 156.0,
"mean_gray": 70.38916256157636,
"std_gray": 63.73000531249946
"mean_gray": 70.38669950738917,
"std_gray": 63.73139230370554
},
"geometry": {
"distance_to_center_norm": 0.6347478032112122,
@@ -1072,7 +1072,7 @@
"confidence": 0.3382587531306593
},
{
"observation_id": "d8cdfb93-415c-4b3e-b53c-dbbc391883dc",
"observation_id": "b8ed0f5c-01ba-4e31-b3ed-bece55310a9b",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 576.5,
"perimeter_px": 96.39469909667969,
"sharpness": {
"laplacian_var": 3863.933022698876
"laplacian_var": 3847.1325489379424
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 108.48979591836735,
"std_gray": 67.37039634765394
"mean_gray": 108.45408163265306,
"std_gray": 67.36780656137837
},
"geometry": {
"distance_to_center_norm": 0.13722912967205048,
@@ -1126,7 +1126,7 @@
"confidence": 0.3623898971459892
},
{
"observation_id": "4a9e1e91-c1cc-4580-9823-e9b1cf5aeed6",
"observation_id": "d90dbeb2-4eec-42a7-b9e6-8a339213cbad",
"type": "aruco",
"marker_id": 114,
"marker_size_m": 0.025,
@@ -1156,14 +1156,14 @@
"area_px": 390.0,
"perimeter_px": 95.09700584411621,
"sharpness": {
"laplacian_var": 5540.499973360328
"laplacian_var": 5529.72342692738
},
"contrast": {
"p05": 43.0,
"p95": 183.0,
"dynamic_range": 140.0,
"mean_gray": 95.0912408759124,
"std_gray": 55.44408372070107
"mean_gray": 95.06934306569343,
"std_gray": 55.465307184115474
},
"geometry": {
"distance_to_center_norm": 0.21216373145580292,
@@ -1180,7 +1180,7 @@
"confidence": 0.10219899885152585
},
{
"observation_id": "58b1e2c5-e1cb-4c80-86f6-9cba85adea72",
"observation_id": "afbeec3f-9b72-4395-af23-e36c37ba328e",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 558.5,
"perimeter_px": 95.06661224365234,
"sharpness": {
"laplacian_var": 3972.0841871728117
"laplacian_var": 3981.867108983511
},
"contrast": {
"p05": 22.0,
"p95": 178.0,
"dynamic_range": 156.0,
"mean_gray": 59.939153439153436,
"std_gray": 59.07361564092552
"mean_gray": 59.91005291005291,
"std_gray": 59.10395607577148
},
"geometry": {
"distance_to_center_norm": 0.13344134390354156,
@@ -1234,7 +1234,7 @@
"confidence": 0.3590718541167963
},
{
"observation_id": "7461baaf-8fb9-4c0f-9f9c-577ba9bf7ba9",
"observation_id": "626c3b2f-2a9b-46ec-b9e9-3b75bb8c9b4a",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
"confidence": 0.29591817114314195
},
{
"observation_id": "05259e82-1b6b-4168-b19c-c354fa189465",
"observation_id": "156f23d3-3073-4b6e-9bf0-c386eaa8d0e0",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 540.0,
"perimeter_px": 93.8634262084961,
"sharpness": {
"laplacian_var": 3408.823017272752
"laplacian_var": 3408.722488172223
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 63.5,
"std_gray": 63.548392175948464
"mean_gray": 63.50529100529101,
"std_gray": 63.551222714541055
},
"geometry": {
"distance_to_center_norm": 0.5498347282409668,
@@ -1342,7 +1342,7 @@
"confidence": 0.3158166687011719
},
{
"observation_id": "4856043f-d208-40cb-8ac6-087dd74cf8f0",
"observation_id": "ecd37c84-80a7-4a00-8375-205c24f7436a",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -1372,14 +1372,14 @@
"area_px": 526.5,
"perimeter_px": 92.3674144744873,
"sharpness": {
"laplacian_var": 2191.556734847063
"laplacian_var": 2194.03344717583
},
"contrast": {
"p05": 14.0,
"p95": 170.0,
"dynamic_range": 156.0,
"mean_gray": 43.868493150684934,
"std_gray": 52.317934473681376
"std_gray": 52.32458464243531
},
"geometry": {
"distance_to_center_norm": 0.36139723658561707,
@@ -1396,7 +1396,7 @@
"confidence": 0.31800273344664126
},
{
"observation_id": "7c3f4152-04a4-4c3b-9135-6e4b95186276",
"observation_id": "2d57dccd-b3aa-401b-a1a2-162cedc3bd5c",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -1426,14 +1426,14 @@
"area_px": 525.0,
"perimeter_px": 92.31552124023438,
"sharpness": {
"laplacian_var": 3902.1212576554426
"laplacian_var": 3915.0293619895424
},
"contrast": {
"p05": 17.0,
"p95": 173.0,
"dynamic_range": 156.0,
"mean_gray": 125.38292011019284,
"std_gray": 58.90136907173973
"mean_gray": 125.35812672176309,
"std_gray": 58.91501661942979
},
"geometry": {
"distance_to_center_norm": 0.33065441250801086,
@@ -1450,7 +1450,7 @@
"confidence": 0.2969848480224609
},
{
"observation_id": "83e09c86-d0d5-43df-85f3-3ef56a81cbff",
"observation_id": "abb5cf23-4f5e-472d-81a4-4f6776fc55d0",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -1480,14 +1480,14 @@
"area_px": 525.0,
"perimeter_px": 92.27830123901367,
"sharpness": {
"laplacian_var": 4107.221947832614
"laplacian_var": 4102.712358791518
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 102.74246575342465,
"std_gray": 63.67080989178813
"mean_gray": 102.73698630136987,
"std_gray": 63.661449393355994
},
"geometry": {
"distance_to_center_norm": 0.5383343696594238,
@@ -1504,7 +1504,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "31dfb68c-7861-421b-a047-a0c722b8af52",
"observation_id": "cc644afb-fd4e-4e42-8202-98fc05cf451e",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 525.0,
"perimeter_px": 92.24146842956543,
"sharpness": {
"laplacian_var": 3300.346286357665
"laplacian_var": 3304.565464439857
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.76712328767124,
"std_gray": 66.86062390309282
"mean_gray": 99.74794520547945,
"std_gray": 66.86704884922929
},
"geometry": {
"distance_to_center_norm": 0.49239593744277954,
@@ -1558,7 +1558,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "2b35a0f1-608d-40f1-adf4-f2ecb35f6bec",
"observation_id": "e494e198-2524-4114-bdef-238cdaad2968",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 507.5,
"perimeter_px": 91.00028991699219,
"sharpness": {
"laplacian_var": 3180.9995421279796
"laplacian_var": 3177.851874648152
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 62.1945205479452,
"std_gray": 62.01288396933966
"std_gray": 62.00188218621383
},
"geometry": {
"distance_to_center_norm": 0.5662168264389038,
@@ -1612,7 +1612,7 @@
"confidence": 0.17828567290874034
},
{
"observation_id": "30165c37-d69f-4741-b972-8dbf5df0a04d",
"observation_id": "c93b066a-1dc0-438a-8a57-daaa99a149cb",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
@@ -1642,14 +1642,14 @@
"area_px": 494.0,
"perimeter_px": 89.47044372558594,
"sharpness": {
"laplacian_var": 4711.553194408575
"laplacian_var": 4715.327213003615
},
"contrast": {
"p05": 13.0,
"p95": 171.0,
"dynamic_range": 158.0,
"mean_gray": 84.4375,
"std_gray": 65.11446706395382
"mean_gray": 84.39772727272727,
"std_gray": 65.09670075649123
},
"geometry": {
"distance_to_center_norm": 0.4621008336544037,
@@ -1666,7 +1666,7 @@
"confidence": 0.3167426670523156
},
{
"observation_id": "c4bd8228-9e8a-4c0d-aab9-bae1d12b0829",
"observation_id": "a56af606-f5c1-4db1-96e7-d8578413b053",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
@@ -1696,14 +1696,14 @@
"area_px": 335.0,
"perimeter_px": 88.93769454956055,
"sharpness": {
"laplacian_var": 10218.363961871582
"laplacian_var": 10197.116788438896
},
"contrast": {
"p05": 46.0,
"p95": 181.0,
"dynamic_range": 135.0,
"mean_gray": 91.3293172690763,
"std_gray": 49.34799776555906
"mean_gray": 91.33734939759036,
"std_gray": 49.32148707156152
},
"geometry": {
"distance_to_center_norm": 0.17687176167964935,
@@ -1720,7 +1720,7 @@
"confidence": 0.07824437489153448
},
{
"observation_id": "9a83ec11-a721-4537-932c-eb47319cfc98",
"observation_id": "3f298a4c-6ce5-4782-8016-ca28e6483d7f",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
@@ -1750,14 +1750,14 @@
"area_px": 476.0,
"perimeter_px": 88.23826217651367,
"sharpness": {
"laplacian_var": 3150.824314624838
"laplacian_var": 3144.8539004236545
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 54.18934911242604,
"std_gray": 59.93373761338494
"mean_gray": 54.17751479289941,
"std_gray": 59.91822210788057
},
"geometry": {
"distance_to_center_norm": 0.6927092671394348,
@@ -1774,7 +1774,7 @@
"confidence": 0.15449597168691093
},
{
"observation_id": "1003f18d-a888-4e4a-93cc-46c03dafc4c8",
"observation_id": "b4ea4893-9af0-4632-b967-68ddc3a3b644",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
@@ -1804,14 +1804,14 @@
"area_px": 461.5,
"perimeter_px": 87.19272422790527,
"sharpness": {
"laplacian_var": 4516.35627190977
"laplacian_var": 4505.05177373876
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 102.73148148148148,
"std_gray": 63.551370270335724
"mean_gray": 102.72839506172839,
"std_gray": 63.53268087684859
},
"geometry": {
"distance_to_center_norm": 0.646465003490448,

362
data/evaluations/Scene6/render_g_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:27:18Z",
"created_utc": "2026-06-01T20:35:48Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -73,170 +73,152 @@
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
4
],
"rms": [
0.0223676880982278,
0.012566816479495048,
0.006126262416466184,
0.005504499991449122,
0.004888503533447677,
0.004873032743296237,
0.004872509819161813,
0.004872489246170814,
0.004872488362004071,
0.004872488323729524,
0.0048724883220931554
0.008490188154325104,
0.0005602243923392173,
9.171702856092172e-05,
9.163770575404208e-05,
9.163770265132358e-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,
9.765625e-07
6.25e-05
]
},
"residual_rms_px": 11.201007116381154,
"residual_median_px": 6.455784957341317,
"residual_max_px": 23.671745397607182,
"sigma2_normalized": 2.6590079542091685e-05
"residual_rms_px": 0.23039584317526243,
"residual_median_px": 0.18121805983293438,
"residual_max_px": 0.42654718754300086,
"sigma2_normalized": 9.405164772852521e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.6493484377861023,
-0.7178793549537659,
-0.25098973512649536
-0.7071762681007385,
-0.7070370316505432,
0.000573257333599031
],
[
-0.6785573959350586,
0.6959421038627625,
-0.23499885201454163
-0.6415866017341614,
0.6413717865943909,
-0.42072421312332153
],
[
0.34337514638900757,
0.017714813351631165,
-0.9390312433242798
0.2970999479293823,
-0.2978939712047577,
-0.9071884155273438
]
],
"translation_m": [
-0.024321136996150017,
0.36079350113868713,
1.2788622379302979
-0.00037262545083649457,
0.3317614793777466,
1.3885902166366577
],
"rvec_rad": [
1.0983080192389878,
-2.5831438259718875,
0.17089553021580095
1.1163390279243697,
-2.694974056772813,
0.5948446549793457
]
},
"camera_in_world": {
"position_m": [
-0.21010328829288483,
-0.29120582342147827,
1.2795733213424683
-0.1999598890542984,
0.20060673356056213,
1.3992931842803955
],
"position_mm": [
-210.10328674316406,
-291.205810546875,
1279.5733642578125
-199.9598846435547,
200.6067352294922,
1399.293212890625
],
"orientation_deg": {
"roll": 178.9192352294922,
"pitch": -20.082639694213867,
"yaw": -133.73989868164062
"roll": -161.8213348388672,
"pitch": -17.28350067138672,
"yaw": -137.7840576171875
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.000145815802095399,
-0.00022551750425135218,
1.7277292133149754e-05,
1.7576504470447233e-05,
2.7433926232913233e-05,
0.00017753578926571242
4.417646669143956e-08,
-6.718855699373594e-08,
2.582442954462071e-08,
5.3047501676090945e-09,
1.0716516564993029e-08,
4.0864991361945976e-08
],
[
-0.0002255175042513527,
0.0005451594047869006,
-2.7677909772749668e-05,
-6.889550036043212e-05,
-4.9462329142648265e-05,
-0.0003956197694075635
-6.718855699373636e-08,
2.1549522498594087e-07,
-1.145961532864214e-07,
-3.4067717452015496e-08,
-1.8685866476527693e-08,
-1.1235809848636722e-07
],
[
1.7277292133149923e-05,
-2.7677909772748306e-05,
0.000505762787607323,
8.329951826541883e-06,
-4.4458253633109896e-05,
-5.820086456460656e-05
2.5824429544621348e-08,
-1.1459615328642225e-07,
3.8941000393858747e-07,
4.1652749582452596e-08,
-2.1426150252390574e-08,
1.104389882842795e-08
],
[
1.7576504470447375e-05,
-6.88955003604323e-05,
8.329951826542115e-06,
1.3625975742691144e-05,
4.259263432705016e-06,
4.07688197130729e-05
5.304750167609187e-09,
-3.406771745201556e-08,
4.165274958245244e-08,
9.187353527559807e-09,
-8.070827003624578e-11,
1.055156024422465e-08
],
[
2.7433926232913274e-05,
-4.94623291426484e-05,
-4.4458253633109985e-05,
4.259263432705015e-06,
1.191140376559341e-05,
4.502345176121774e-05
1.0716516564993007e-08,
-1.8685866476527514e-08,
-2.1426150252390875e-08,
-8.070827003629163e-11,
6.128973146135818e-09,
1.510257943495449e-08
],
[
0.00017753578926571272,
-0.00039561976940756353,
-5.820086456460524e-05,
4.0768819713072796e-05,
4.502345176121759e-05,
0.00035143957648976055
4.08649913619461e-08,
-1.1235809848636693e-07,
1.1043898828427182e-08,
1.0551560244224562e-08,
1.5102579434954593e-08,
8.949155612839567e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.691870682317752,
1.3377790384824617,
1.2885345516349032
0.012042540652858104,
0.026597539227925883,
0.03575412750561385
],
"tvec_std_m": [
0.0036913379339598732,
0.0034512901595770543,
0.018746721753142882
9.585068350074404e-05,
7.828775859695957e-05,
0.0002991513933251785
]
},
"camera_center_std_m": [
0.027312195375533144,
0.025082004315747992,
0.02523321485304979
0.0006549485319082589,
0.0007914615333174686,
0.0003012357304366902
],
"camera_center_std_mm": [
27.312195375533143,
25.08200431574799,
25.23321485304979
0.6549485319082589,
0.7914615333174686,
0.3012357304366902
],
"orientation_std_deg": {
"roll": 0.789769066752541,
"pitch": 1.3224698372613723,
"yaw": 0.22956877108477963
"roll": 0.02279399490889347,
"pitch": 0.025783572142479363,
"yaw": 0.010380667047318836
}
}
},
@@ -249,10 +231,10 @@
662.0
],
"projected_center_px": [
66.3172836303711,
640.0718994140625
65.1496353149414,
661.9607543945312
],
"reprojection_error_px": 21.95405861463093,
"reprojection_error_px": 0.10776496441571115,
"confidence": 0.3490767193505014
},
{
@@ -262,10 +244,10 @@
647.0
],
"projected_center_px": [
820.6398315429688,
650.577880859375
819.5128784179688,
646.9606323242188
],
"reprojection_error_px": 3.7550562432843146,
"reprojection_error_px": 0.04142061739997897,
"confidence": 0.5331747682067169
},
{
@@ -275,10 +257,10 @@
581.0
],
"projected_center_px": [
99.94953155517578,
568.8656005859375
102.25233459472656,
581.1869506835938
],
"reprojection_error_px": 12.350538620061569,
"reprojection_error_px": 0.18696525995143515,
"confidence": 0.43254677700170213
},
{
@@ -288,10 +270,10 @@
559.0
],
"projected_center_px": [
54.83529281616211,
548.07373046875
52.02788543701172,
559.117919921875
],
"reprojection_error_px": 11.288146491913656,
"reprojection_error_px": 0.12117221452272232,
"confidence": 0.27711751756945874
},
{
@@ -301,10 +283,10 @@
564.0
],
"projected_center_px": [
783.7803344726562,
566.5072021484375
780.9652099609375,
563.8505859375
],
"reprojection_error_px": 3.7438379229034906,
"reprojection_error_px": 0.1534109151616148,
"confidence": 0.48073279309443956
},
{
@@ -314,10 +296,10 @@
547.5
],
"projected_center_px": [
885.0198364257812,
551.6160888671875
868.9005126953125,
547.3411865234375
],
"reprojection_error_px": 16.540173719504057,
"reprojection_error_px": 0.18740182531622043,
"confidence": 0.45546210617301425
},
{
@@ -327,10 +309,10 @@
543.5
],
"projected_center_px": [
704.6546020507812,
544.8751220703125
708.2050170898438,
543.6597290039062
],
"reprojection_error_px": 3.6169943526217394,
"reprojection_error_px": 0.2598949053307569,
"confidence": 0.47991555158957017
},
{
@@ -340,10 +322,10 @@
507.25
],
"projected_center_px": [
636.2103271484375,
507.4422302246094
643.0690307617188,
506.9928283691406
],
"reprojection_error_px": 7.042296948885319,
"reprojection_error_px": 0.3144632139423727,
"confidence": 0.4668259742313624
},
{
@@ -353,10 +335,10 @@
514.75
],
"projected_center_px": [
84.11878204345703,
508.3146057128906
84.41211700439453,
514.6674194335938
],
"reprojection_error_px": 6.436731917881876,
"reprojection_error_px": 0.18193810228160986,
"confidence": 0.39662908657084783
},
{
@@ -366,10 +348,10 @@
498.0
],
"projected_center_px": [
45.327232360839844,
492.7773742675781
41.324440002441406,
498.04193115234375
],
"reprojection_error_px": 6.4748379968007574,
"reprojection_error_px": 0.18049801738425886,
"confidence": 0.1698001278724927
},
{
@@ -379,10 +361,10 @@
458.0
],
"projected_center_px": [
34.3974494934082,
456.3651123046875
29.116455078125,
458.10205078125
],
"reprojection_error_px": 5.400841977272857,
"reprojection_error_px": 0.16807322247263307,
"confidence": 0.07718187630567852
},
{
@@ -392,10 +374,10 @@
417.75
],
"projected_center_px": [
401.9828796386719,
425.05279541015625
424.376220703125,
417.76055908203125
],
"reprojection_error_px": 23.671745397607182,
"reprojection_error_px": 0.1242288555377214,
"confidence": 0.4316478958478293
},
{
@@ -405,10 +387,10 @@
415.25
],
"projected_center_px": [
716.2407836914062,
415.26116943359375
710.8994750976562,
415.1653137207031
],
"reprojection_error_px": 5.490795051908207,
"reprojection_error_px": 0.17179805214406185,
"confidence": 0.4181682027393045
},
{
@@ -418,10 +400,10 @@
351.75
],
"projected_center_px": [
623.2034301757812,
351.356201171875
622.6556396484375,
351.8830261230469
],
"reprojection_error_px": 0.6005634365673942,
"reprojection_error_px": 0.16309452890848583,
"confidence": 0.39668368657567366
},
{
@@ -431,10 +413,10 @@
332.5
],
"projected_center_px": [
778.9503784179688,
329.4484558105469
761.3322143554688,
332.7352294921875
],
"reprojection_error_px": 17.715180746198858,
"reprojection_error_px": 0.2889375996743174,
"confidence": 0.3829765144945479
},
{
@@ -444,10 +426,10 @@
202.0
],
"projected_center_px": [
187.4750518798828,
217.04306030273438
201.80911254882812,
201.79342651367188
],
"reprojection_error_px": 20.566789565794693,
"reprojection_error_px": 0.3717837719653401,
"confidence": 0.3382587531306593
},
{
@@ -457,10 +439,10 @@
268.75
],
"projected_center_px": [
694.6292114257812,
264.1593322753906
682.6893310546875,
268.7320861816406
],
"reprojection_error_px": 12.735379627485866,
"reprojection_error_px": 0.06325840508220071,
"confidence": 0.3623898971459892
},
{
@@ -470,10 +452,10 @@
262.5
],
"projected_center_px": [
636.9898681640625,
259.2573547363281
630.4208984375,
262.6235046386719
],
"reprojection_error_px": 7.479342964121705,
"reprojection_error_px": 0.21085462222444118,
"confidence": 0.3590718541167963
},
{
@@ -483,10 +465,10 @@
135.0
],
"projected_center_px": [
122.37240600585938,
153.91258239746094
133.0027618408203,
135.0274658203125
],
"reprojection_error_px": 21.69404358447367,
"reprojection_error_px": 0.027604330279057343,
"confidence": 0.29591817114314195
},
{
@@ -496,10 +478,10 @@
157.0
],
"projected_center_px": [
285.47393798828125,
163.8134765625
291.0018005371094,
157.40139770507812
],
"reprojection_error_px": 8.772731856445738,
"reprojection_error_px": 0.4014017433642605,
"confidence": 0.3158166687011719
},
{
@@ -509,10 +491,10 @@
182.75
],
"projected_center_px": [
439.2336730957031,
183.42576599121094
442.3438415527344,
182.8818817138672
],
"reprojection_error_px": 3.3354986314808928,
"reprojection_error_px": 0.20439727763587678,
"confidence": 0.31800273344664126
},
{
@@ -522,10 +504,10 @@
166.0
],
"projected_center_px": [
494.3686828613281,
163.52761840820312
493.9411926269531,
165.66165161132812
],
"reprojection_error_px": 2.499719541807269,
"reprojection_error_px": 0.343420935939451,
"confidence": 0.2969848480224609
},
{
@@ -535,10 +517,10 @@
130.0
],
"projected_center_px": [
314.16259765625,
134.71170043945312
318.8749694824219,
129.7966766357422
],
"reprojection_error_px": 6.404153349406209,
"reprojection_error_px": 0.42654718754300086,
"confidence": 0.3170967427530611
},
{
@@ -548,10 +530,10 @@
109.0
],
"projected_center_px": [
377.0882263183594,
110.719482421875
379.9096984863281,
109.25
],
"reprojection_error_px": 3.168857669793928,
"reprojection_error_px": 0.29665401823588083,
"confidence": 0.3170967427530611
},
{
@@ -561,10 +543,10 @@
44.25
],
"projected_center_px": [
368.54376220703125,
44.123390197753906
369.57080078125,
44.27809143066406
],
"reprojection_error_px": 0.9645832046674568,
"reprojection_error_px": 0.07617006697098397,
"confidence": 0.17828567290874034
},
{
@@ -574,10 +556,10 @@
70.5
],
"projected_center_px": [
465.66455078125,
65.76787567138672
463.0288391113281,
70.45006561279297
],
"reprojection_error_px": 5.430730294105359,
"reprojection_error_px": 0.05766400409213458,
"confidence": 0.3167426670523156
},
{
@@ -587,10 +569,10 @@
42.0
],
"projected_center_px": [
239.87164306640625,
49.28307342529297
242.71681213378906,
41.71940231323242
],
"reprojection_error_px": 7.926523552111149,
"reprojection_error_px": 0.39866079489764195,
"confidence": 0.15449597168691093
},
{
@@ -600,10 +582,10 @@
29.5
],
"projected_center_px": [
296.9469909667969,
33.20512008666992
299.2748718261719,
29.451231002807617
],
"reprojection_error_px": 4.362541170425802,
"reprojection_error_px": 0.054745071232711065,
"confidence": 0.08171792300897739
}
]

5323
data/evaluations/Scene6/robot_state.json Normal file
View File

File diff suppressed because it is too large Load Diff