Claude: über nacht arbeiten. Pipeline verbessern

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

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:43Z",
"created_utc": "2026-06-01T21:52:02Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
"camera_id": "a",
"camera_matrix": [
[
2000.0,
6800.0,
0.0,
720.0
2448.0
],
[
0.0,
2250.0,
540.0
6800.0,
1632.0
],
[
0.0,
@@ -59,197 +59,152 @@
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19
4
],
"rms": [
0.2550351374035507,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.14699623241785992,
0.08550663198772257,
0.08300853012587446,
0.082993189724813,
0.08299143581733595,
0.08299117215645674,
0.08299113202042445,
0.08299112590245267,
0.08299112496773195,
0.0829911248245435,
0.0829911248024852,
0.08299112479904609
0.010139004951637958,
0.0004286608001403729,
6.262308842089574e-05,
6.254351366795767e-05,
6.254351176931245e-05
],
"lambda": [
0.001,
0.0005,
0.001,
0.002,
0.004,
0.008,
0.016,
0.032,
0.016,
0.008,
0.004,
0.002,
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05,
1.5625e-05,
7.8125e-06
6.25e-05
]
},
"residual_rms_px": 247.42143090225213,
"residual_median_px": 189.36093485879957,
"residual_max_px": 427.5040937974711,
"sigma2_normalized": 0.008765943194042525
"residual_rms_px": 0.6014534961197234,
"residual_median_px": 0.38385325886254007,
"residual_max_px": 1.6219706909527913,
"sigma2_normalized": 4.978515645646214e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.696112334728241,
-0.6790731549263,
-0.23299627006053925
0.8082370758056641,
-0.5888572335243225,
9.628586849430576e-05
],
[
-0.6971762180328369,
-0.7168710827827454,
0.006416028365492821
-0.343298077583313,
-0.4713272452354431,
-0.8124020099639893
],
[
-0.1713852435350418,
0.15797318518161774,
-0.9724564552307129
0.47843417525291443,
0.65658038854599,
-0.5830976963043213
]
],
"translation_m": [
0.19724678993225098,
0.5264778733253479,
0.5180459022521973
-0.22868585586547852,
0.17095765471458435,
1.1347154378890991
],
"rvec_rad": [
2.816786813465012,
-1.1450804710849414,
-0.33645745835217866
2.1067939753531193,
-0.6860254912939823,
0.35217747403497723
]
},
"camera_in_world": {
"position_m": [
0.31852734088897705,
0.42952442169189453,
0.5463569760322571
-0.2993648648262024,
-0.7991182208061218,
0.80055832862854
],
"position_mm": [
318.52734375,
429.5244140625,
546.3569946289062
-299.3648681640625,
-799.1182250976562,
800.558349609375
],
"orientation_deg": {
"roll": 170.7730255126953,
"pitch": 9.868369102478027,
"yaw": -45.04374694824219
"roll": 131.60772705078125,
"pitch": -28.58318328857422,
"yaw": -23.013320922851562
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.006271967978842045,
0.004793349119455165,
0.008070762638402807,
-0.0013799829796936273,
-0.0023595414906020444,
-0.0029516945908372475
8.996703709683232e-08,
-2.1012542895534855e-08,
3.6511497337719655e-09,
3.3373015185071936e-09,
1.7037481423130286e-09,
9.408125321532836e-09
],
[
0.004793349119455074,
0.024884090063633395,
0.019744512211518586,
-0.0030082716803578793,
-0.007467939662900134,
-0.005691104990331559
-2.101254289553488e-08,
2.3065028926974945e-08,
-1.287613343238575e-08,
-2.588315778866506e-09,
-3.5769353406216967e-09,
3.493734866691989e-09
],
[
0.008070762638402763,
0.019744512211518843,
0.02388042998440534,
-0.003645417159658658,
-0.00710444136207086,
-0.007842229972519361
3.651149733771734e-09,
-1.2876133432385476e-08,
7.279354673760181e-08,
5.117591404967612e-09,
-8.226455842710908e-09,
-2.5161216950257857e-08
],
[
-0.0013799829796936132,
-0.003008271680357939,
-0.0036454171596586628,
0.00148199799234924,
0.0015637374442299895,
0.0017576795489709358
3.3373015185071832e-09,
-2.588315778866492e-09,
5.117591404967632e-09,
1.3104439405249452e-09,
4.1920590195539545e-11,
5.489245482334101e-10
],
[
-0.002359541490602016,
-0.007467939662900189,
-0.0071044413620708225,
0.0015637374442299791,
0.0028367572782359244,
0.0025223942198622376
1.7037481423130921e-09,
-3.5769353406217464e-09,
-8.226455842710834e-09,
4.192059019554739e-11,
3.046527791587539e-09,
4.724864467964654e-09
],
[
-0.0029516945908372345,
-0.005691104990331677,
-0.007842229972519389,
0.00175767954897094,
0.0025223942198622615,
0.003039857915175949
9.408125321532988e-09,
3.493734866691872e-09,
-2.5161216950257817e-08,
5.48924548233422e-10,
4.7248644679646746e-09,
2.5501848547251976e-08
]
],
"parameter_std": {
"rvec_std_deg": [
4.53758265026798,
9.038232619000235,
8.854085339198889
0.017185585840268094,
0.008701610392604229,
0.015458561300136437
],
"tvec_std_m": [
0.03849672703424591,
0.05326121739348364,
0.05513490650373817
3.620005442709921e-05,
5.51953602360519e-05,
0.0001596929821477825
]
},
"camera_center_std_m": [
0.12138569891196593,
0.055595904684668296,
0.06117004752575517
0.0002279398237834652,
0.00029628647795982774,
0.0003110862317275831
],
"camera_center_std_mm": [
121.38569891196593,
55.5959046846683,
61.170047525755166
0.2279398237834652,
0.29628647795982777,
0.3110862317275831
],
"orientation_std_deg": {
"roll": 5.623982527845689,
"pitch": 5.637215120385333,
"yaw": 5.5710893268109825
"roll": 0.016392470746165667,
"pitch": 0.012181058615131335,
"yaw": 0.009124599273526565
}
}
},
@@ -262,10 +217,10 @@
2971.25
],
"projected_center_px": [
3269.76904296875,
3098.166259765625
3395.6708984375,
2971.872314453125
],
"reprojection_error_px": 178.8265599048566,
"reprojection_error_px": 0.6273215569053954,
"confidence": 0.9327901995983151
},
{
@@ -275,10 +230,10 @@
2900.5
],
"projected_center_px": [
3616.95703125,
3052.60986328125
3764.711669921875,
2898.969970703125
],
"reprojection_error_px": 212.43402525991226,
"reprojection_error_px": 1.6219706909527913,
"confidence": 0.8820535206405639
},
{
@@ -288,10 +243,10 @@
3065.75
],
"projected_center_px": [
3792.84326171875,
3261.887939453125
3951.466064453125,
3066.275146484375
],
"reprojection_error_px": 252.27376378641276,
"reprojection_error_px": 0.5262418183621741,
"confidence": 0.8576132554297061
},
{
@@ -301,10 +256,10 @@
2949.25
],
"projected_center_px": [
2509.70166015625,
2992.7099609375
2498.268798828125,
2949.729248046875
],
"reprojection_error_px": 44.943394676228785,
"reprojection_error_px": 0.479616603520328,
"confidence": 0.9080770184132253
},
{
@@ -314,10 +269,10 @@
2673.5
],
"projected_center_px": [
1599.0888671875,
2859.135986328125
1241.027587890625,
2673.8125
],
"reprojection_error_px": 403.3464468960187,
"reprojection_error_px": 0.3137153832841752,
"confidence": 0.7451448168607637
},
{
@@ -327,11 +282,11 @@
2590.5
],
"projected_center_px": [
4474.40576171875,
2735.0185546875
4529.7607421875,
2590.789794921875
],
"reprojection_error_px": 154.66411264658353,
"confidence": 0.6535427785570701
"reprojection_error_px": 0.3898302003267865,
"confidence": 0.6527759750411095
},
{
"marker_id": 79,
@@ -340,11 +295,11 @@
2547.25
],
"projected_center_px": [
2990.919921875,
2580.907958984375
3115.82275390625,
2547.234375
],
"reprojection_error_px": 129.52947211638738,
"confidence": 0.9392243664141513
"reprojection_error_px": 0.1779334661457304,
"confidence": 0.9344142778068937
},
{
"marker_id": 96,
@@ -353,11 +308,11 @@
2501.5
],
"projected_center_px": [
3321.59765625,
2543.1494140625
3463.6240234375,
2501.49755859375
],
"reprojection_error_px": 147.64843440286705,
"confidence": 0.6063473591649313
"reprojection_error_px": 0.37403140545119196,
"confidence": 0.6048466456716369
},
{
"marker_id": 105,
@@ -366,11 +321,11 @@
2399.5
],
"projected_center_px": [
4354.45458984375,
2455.594482421875
4400.5068359375,
2399.33837890625
],
"reprojection_error_px": 72.41415986916654,
"confidence": 0.2536715470387048
"reprojection_error_px": 0.3034568778862166,
"confidence": 0.2535397062867033
},
{
"marker_id": 62,
@@ -379,11 +334,11 @@
2389.0
],
"projected_center_px": [
3420.02734375,
2398.420166015625
3562.705322265625,
2388.35888671875
],
"reprojection_error_px": 142.7837431456838,
"confidence": 0.4321481343383343
"reprojection_error_px": 0.6731890315182836,
"confidence": 0.43198381102734873
},
{
"marker_id": 75,
@@ -392,11 +347,11 @@
2224.5
],
"projected_center_px": [
904.8543090820312,
2110.790771484375
492.7984619140625,
2224.125244140625
],
"reprojection_error_px": 427.5040937974711,
"confidence": 0.3469694639075123
"reprojection_error_px": 0.3778763173982936,
"confidence": 0.346873831556842
},
{
"marker_id": 102,
@@ -405,10 +360,10 @@
2020.75
],
"projected_center_px": [
4776.58447265625,
1858.373291015625
4659.751953125,
2020.877197265625
],
"reprojection_error_px": 199.8953098127425,
"reprojection_error_px": 0.27875867086019485,
"confidence": 0.7605882165177812
},
{
@@ -418,10 +373,10 @@
1931.0
],
"projected_center_px": [
4564.4404296875,
1701.9599609375
4488.86474609375,
1930.84619140625
],
"reprojection_error_px": 241.2226785358912,
"reprojection_error_px": 0.19189515247195885,
"confidence": 0.7981307357037608
},
{
@@ -431,10 +386,10 @@
1406.0
],
"projected_center_px": [
3963.491943359375,
987.382568359375
3877.7763671875,
1406.508544921875
],
"reprojection_error_px": 427.2580326369019,
"reprojection_error_px": 0.5555443928179907,
"confidence": 0.903357464550398
}
]