Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
@@ -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
|
||||
}
|
||||
]
|
||||
|
||||
Reference in New Issue
Block a user