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_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
"camera_id": "b",
"camera_matrix": [
[
2000.0,
6800.0,
0.0,
720.0
2448.0
],
[
0.0,
2250.0,
540.0
6800.0,
1632.0
],
[
0.0,
@@ -39,8 +39,8 @@
"num_used_markers": 40,
"used_marker_ids": [
71,
47,
59,
47,
105,
63,
102,
@@ -85,164 +85,152 @@
1,
2,
3,
4,
5,
6,
7,
8
4
],
"rms": [
0.2180162409307021,
0.11249666662176248,
0.08397969402204783,
0.07815087216900453,
0.07812714914360112,
0.0781270023633121,
0.07812699796751436,
0.0781269978235256,
0.07812699781861625
0.01606681965439232,
0.0011844573780833033,
5.916681116708727e-05,
5.806361605582324e-05,
5.806361422677187e-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
6.25e-05
]
},
"residual_rms_px": 233.6319192416594,
"residual_median_px": 221.3654529850337,
"residual_max_px": 473.5543117446655,
"sigma2_normalized": 0.006598732743912953
"residual_rms_px": 0.5583849530027893,
"residual_median_px": 0.3656883419124161,
"residual_max_px": 1.3646678267472303,
"sigma2_normalized": 3.644738699540577e-09
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9843704104423523,
-0.08986764401197433,
-0.15145538747310638
0.9999255537986755,
-0.012202664278447628,
1.505151317360287e-06
],
[
-0.08863414824008942,
-0.9959529638290405,
0.014889624901115894
-0.009513603523373604,
-0.77965247631073,
-0.6261401772499084
],
[
-0.1521805375814438,
-0.0012327859876677394,
-0.9883519411087036
0.007641752250492573,
0.6260935664176941,
-0.7797104716300964
]
],
"translation_m": [
0.1690305769443512,
0.39149409532546997,
0.5915158987045288
-0.3110427260398865,
0.05307088419795036,
1.4964808225631714
],
"rvec_rad": [
3.1373542038510007,
-0.14111090608722038,
-0.24003310941789982
2.4649611933707036,
-0.015039454418586937,
0.00529328620697099
]
},
"camera_in_world": {
"position_m": [
-0.0416717454791069,
0.4058293104171753,
0.6043972969055176
0.30008870363235474,
-0.8993557095527649,
1.20005202293396
],
"position_mm": [
-41.67174530029297,
405.8293151855469,
604.3972778320312
300.0887145996094,
-899.355712890625,
1200.052001953125
],
"orientation_deg": {
"roll": -179.92852783203125,
"pitch": 8.753313064575195,
"yaw": -5.145120620727539
"roll": 141.23614501953125,
"pitch": -0.4378443956375122,
"yaw": -0.5451134443283081
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.000891169722570127,
-0.0008061838885219521,
1.9784065890917623e-05,
-0.00010820304040951072,
0.00023271664287010548,
-0.00010669733652635009
1.4560708769055394e-08,
2.1936742562751363e-10,
1.2675787077661743e-09,
3.687137310703419e-10,
2.749810366282835e-10,
3.5125442434861984e-09
],
[
-0.000806183888521945,
0.0023904414850623276,
0.0012197521093101906,
-6.0809118898897204e-05,
-0.0008170746983408688,
-0.0004269153349664779
2.1936742562749468e-10,
3.2279927442388154e-09,
-6.013761807147279e-10,
5.3247126827197174e-11,
-9.235338408840129e-10,
6.194040438321499e-10
],
[
1.978406589092627e-05,
0.0012197521093101698,
0.0025005812478023394,
-0.00032361531218720195,
-0.0006130185121332305,
-0.0011059818643380313
1.2675787077661664e-09,
-6.013761807147288e-10,
2.8246948284464387e-08,
1.01741492519163e-09,
-3.0968766097353222e-09,
-1.0245527921767557e-08
],
[
-0.00010820304040951278,
-6.0809118898889086e-05,
-0.0003236153121871969,
0.0002625568498292632,
0.0001347347552161458,
0.0002846137107817639
3.687137310703429e-10,
5.3247126827197413e-11,
1.017414925191631e-09,
2.7692452471853247e-10,
-9.700717784692928e-11,
7.978308454001119e-11
],
[
0.00023271664287010201,
-0.0008170746983408649,
-0.0006130185121332357,
0.0001347347552161486,
0.0003920842895297734,
0.0003064990064402591
2.749810366282906e-10,
-9.235338408840125e-10,
-3.096876609735322e-09,
-9.700717784692909e-11,
8.902879755157365e-10,
1.4739798827806617e-09
],
[
-0.00010669733652635444,
-0.0004269153349664654,
-0.001105981864338028,
0.00028461371078176577,
0.00030649900644025556,
0.0006060526030698586
3.512544243486197e-09,
6.194040438321502e-10,
-1.0245527921767535e-08,
7.97830845400122e-11,
1.4739798827806592e-09,
9.320546277796218e-09
]
],
"parameter_std": {
"rvec_std_deg": [
1.7104203062965013,
2.8013133502866316,
2.865121986758297
0.006913753481845208,
0.003255284177852837,
0.009629603376915014
],
"tvec_std_m": [
0.01620360607486072,
0.01980111839088321,
0.024618135653819494
1.6641049387539613e-05,
2.9837693870601603e-05,
9.654297632555264e-05
]
},
"camera_center_std_m": [
0.02910902628162059,
0.03756879043595322,
0.030773710568558602
0.00018938460138082685,
0.00013298282610747891,
0.00015698416725781205
],
"camera_center_std_mm": [
29.10902628162059,
37.568790435953225,
30.773710568558602
0.18938460138082686,
0.1329828261074789,
0.15698416725781206
],
"orientation_std_deg": {
"roll": 1.822049922964102,
"pitch": 1.859881089657147,
"yaw": 1.6642479076314256
"roll": 0.009206219629625007,
"pitch": 0.007050606054364086,
"yaw": 0.003291733954296055
}
}
},
@@ -255,25 +243,12 @@
3069.0
],
"projected_center_px": [
4431.6162109375,
3247.9970703125
4682.1103515625,
3069.43994140625
],
"reprojection_error_px": 308.39606221439715,
"reprojection_error_px": 0.7763366309336556,
"confidence": 0.93711003907764
},
{
"marker_id": 47,
"observed_center_px": [
2634.0,
3103.5
],
"projected_center_px": [
2618.66943359375,
3105.739501953125
],
"reprojection_error_px": 15.49327710119753,
"confidence": 0.912893942006467
},
{
"marker_id": 59,
"observed_center_px": [
@@ -281,12 +256,25 @@
3052.75
],
"projected_center_px": [
3832.01220703125,
3175.331298828125
4054.75390625,
3052.1767578125
],
"reprojection_error_px": 253.80270180991192,
"reprojection_error_px": 0.7632352942041187,
"confidence": 0.9005919489792288
},
{
"marker_id": 47,
"observed_center_px": [
2634.0,
3105.25
],
"projected_center_px": [
2633.888427734375,
3104.025146484375
],
"reprojection_error_px": 1.229924593296523,
"confidence": 0.9079122340425532
},
{
"marker_id": 105,
"observed_center_px": [
@@ -294,10 +282,10 @@
3002.0
],
"projected_center_px": [
3368.56494140625,
3085.51171875
3536.97509765625,
3000.720703125
],
"reprojection_error_px": 187.55370183887428,
"reprojection_error_px": 1.3646678267472303,
"confidence": 0.9206770471787415
},
{
@@ -307,10 +295,10 @@
2851.75
],
"projected_center_px": [
4554.837890625,
3045.77490234375
4766.87060546875,
2852.192138671875
],
"reprojection_error_px": 287.68831561020806,
"reprojection_error_px": 0.5826034805163767,
"confidence": 0.9143902497434336
},
{
@@ -320,10 +308,10 @@
2802.25
],
"projected_center_px": [
3923.451416015625,
2944.490478515625
4126.08203125,
2801.357666015625
],
"reprojection_error_px": 246.89070907276528,
"reprojection_error_px": 1.2200557121079043,
"confidence": 0.9172583330383073
},
{
@@ -333,10 +321,10 @@
2637.5
],
"projected_center_px": [
3888.860107421875,
2778.96484375
4073.147216796875,
2637.949951171875
],
"reprojection_error_px": 232.40467831389364,
"reprojection_error_px": 0.46154137833602826,
"confidence": 0.8712206048456203
},
{
@@ -346,11 +334,11 @@
2610.0
],
"projected_center_px": [
2828.232421875,
2678.8681640625
2909.43701171875,
2609.341552734375
],
"reprojection_error_px": 107.28829587560982,
"confidence": 0.803522405516391
"reprojection_error_px": 1.2503986914915852,
"confidence": 0.8035181060868406
},
{
"marker_id": 69,
@@ -359,10 +347,10 @@
3097.75
],
"projected_center_px": [
1386.7720947265625,
2982.325439453125
927.6011352539062,
3098.35595703125
],
"reprojection_error_px": 473.5543117446655,
"reprojection_error_px": 0.6143388831125661,
"confidence": 0.905262596430799
},
{
@@ -372,10 +360,10 @@
3055.0
],
"projected_center_px": [
2010.134033203125,
3007.312744140625
1834.0386962890625,
3055.3525390625
],
"reprojection_error_px": 182.4754011471054,
"reprojection_error_px": 0.3546564441478365,
"confidence": 0.8976746337642635
},
{
@@ -385,10 +373,10 @@
2997.0
],
"projected_center_px": [
2373.965087890625,
2992.518310546875
2326.904052734375,
2997.414794921875
],
"reprojection_error_px": 46.929574651631675,
"reprojection_error_px": 0.5401243725353464,
"confidence": 0.903108340169161
},
{
@@ -398,10 +386,10 @@
2811.75
],
"projected_center_px": [
1512.19775390625,
2763.239013671875
1176.709228515625,
2811.9560546875
],
"reprojection_error_px": 339.18475462825376,
"reprojection_error_px": 0.29365814477273317,
"confidence": 0.8844949082067705
},
{
@@ -411,10 +399,10 @@
2686.5
],
"projected_center_px": [
1263.89892578125,
2639.7783203125
844.792724609375,
2686.771728515625
],
"reprojection_error_px": 421.9933344251871,
"reprojection_error_px": 0.3994046608860645,
"confidence": 0.8683683754371148
},
{
@@ -424,10 +412,10 @@
2677.75
],
"projected_center_px": [
1696.009033203125,
2663.15673828125
1462.4964599609375,
2677.96533203125
],
"reprojection_error_px": 233.96459534521472,
"reprojection_error_px": 0.2153611282446649,
"confidence": 0.8544539072325071
},
{
@@ -437,10 +425,10 @@
2658.75
],
"projected_center_px": [
2689.631103515625,
2716.36474609375
2743.357666015625,
2659.11669921875
],
"reprojection_error_px": 78.87532552003567,
"reprojection_error_px": 0.3933538866465197,
"confidence": 0.8589505521773345
},
{
@@ -450,10 +438,10 @@
2608.5
],
"projected_center_px": [
1912.92822265625,
2617.124267578125
1767.8828125,
2608.80029296875
],
"reprojection_error_px": 145.1845987477965,
"reprojection_error_px": 0.3223488440136531,
"confidence": 0.8509910811659294
},
{
@@ -463,10 +451,10 @@
2547.25
],
"projected_center_px": [
2452.880615234375,
2595.813232421875
2463.201171875,
2547.470703125
],
"reprojection_error_px": 49.71075211723757,
"reprojection_error_px": 0.37149443828378004,
"confidence": 0.847596675022278
},
{
@@ -476,10 +464,10 @@
2177.0
],
"projected_center_px": [
4556.38232421875,
2495.138427734375
4517.68505859375,
2177.252197265625
],
"reprojection_error_px": 320.505685344195,
"reprojection_error_px": 0.31281007641930964,
"confidence": 0.8406075482029924
},
{
@@ -489,10 +477,10 @@
2181.75
],
"projected_center_px": [
4038.003662109375,
2475.214599609375
4048.182373046875,
2182.017822265625
],
"reprojection_error_px": 293.6522506860878,
"reprojection_error_px": 0.41547039282718934,
"confidence": 0.8283605841985052
},
{
@@ -502,11 +490,11 @@
2196.5
],
"projected_center_px": [
2658.80224609375,
2422.205322265625
2636.69091796875,
2196.345458984375
],
"reprojection_error_px": 226.7558829088279,
"confidence": 0.5568471708157432
"reprojection_error_px": 0.3455642162493571,
"confidence": 0.555731533757512
},
{
"marker_id": 210,
@@ -515,10 +503,10 @@
1945.0
],
"projected_center_px": [
1367.635986328125,
2106.98486328125
1115.3828125,
1944.92578125
],
"reprojection_error_px": 299.8962854505967,
"reprojection_error_px": 0.15214329761055037,
"confidence": 0.8018014734907156
},
{
@@ -528,11 +516,11 @@
1875.5
],
"projected_center_px": [
4527.037109375,
2119.787109375
4443.9384765625,
1875.429443359375
],
"reprojection_error_px": 258.0142502656567,
"confidence": 0.5521725959715403
"reprojection_error_px": 0.09361288852557541,
"confidence": 0.5521704751987732
},
{
"marker_id": 214,
@@ -541,11 +529,11 @@
1893.0
],
"projected_center_px": [
2632.4296875,
2089.3125
2625.911865234375,
1893.26416015625
],
"reprojection_error_px": 196.42610794226835,
"confidence": 0.3718720204418987
"reprojection_error_px": 0.3098079118571669,
"confidence": 0.3714994272958438
},
{
"marker_id": 206,
@@ -554,11 +542,11 @@
1880.0
],
"projected_center_px": [
4009.461669921875,
2111.4619140625
3990.12890625,
1879.88134765625
],
"reprojection_error_px": 232.27865648316495,
"confidence": 0.6158675792473144
"reprojection_error_px": 0.17520045652460686,
"confidence": 0.615736458854544
},
{
"marker_id": 94,
@@ -567,11 +555,11 @@
1326.0
],
"projected_center_px": [
4924.25732421875,
1191.8868408203125
4789.94482421875,
1325.749755859375
],
"reprojection_error_px": 189.76661606176876,
"confidence": 0.2817093039274623
"reprojection_error_px": 0.2562547497192835,
"confidence": 0.28171181487333746
},
{
"marker_id": 76,
@@ -580,11 +568,11 @@
1354.5
],
"projected_center_px": [
3959.87890625,
1258.8807373046875
4002.68505859375,
1354.555908203125
],
"reprojection_error_px": 104.68811313058168,
"confidence": 0.3815939257199647
"reprojection_error_px": 0.19331945142016568,
"confidence": 0.38152191383003176
},
{
"marker_id": 68,
@@ -593,11 +581,11 @@
1347.0
],
"projected_center_px": [
3441.7490234375,
1261.58251953125
3535.68359375,
1346.75
],
"reprojection_error_px": 126.82819708586774,
"confidence": 0.31372055843239094
"reprojection_error_px": 0.3101719926735206,
"confidence": 0.31374894776688467
},
{
"marker_id": 56,
@@ -606,10 +594,10 @@
1356.0
],
"projected_center_px": [
3112.67138671875,
1282.1180419921875
3223.380859375,
1355.8355712890625
],
"reprojection_error_px": 132.78157488007056,
"reprojection_error_px": 0.4148381184341171,
"confidence": 0.24873977465808988
},
{
@@ -619,11 +607,11 @@
1294.75
],
"projected_center_px": [
1139.1160888671875,
1261.731689453125
1041.3941650390625,
1294.795654296875
],
"reprojection_error_px": 103.04906422232337,
"confidence": 0.5936490959290838
"reprojection_error_px": 0.11526210903758782,
"confidence": 0.5936570493548425
},
{
"marker_id": 53,
@@ -632,11 +620,11 @@
1221.5
],
"projected_center_px": [
3045.237548828125,
1104.767822265625
3157.366943359375,
1221.2335205078125
],
"reprojection_error_px": 161.95449750385856,
"confidence": 0.38406546841865996
"reprojection_error_px": 0.2978512873413816,
"confidence": 0.38398719734985104
},
{
"marker_id": 50,
@@ -645,11 +633,11 @@
1219.0
],
"projected_center_px": [
3426.620361328125,
1087.7431640625
3515.340087890625,
1219.1497802734375
],
"reprojection_error_px": 158.23816705237385,
"confidence": 0.3623582322914286
"reprojection_error_px": 0.37160988100530135,
"confidence": 0.3623663304874521
},
{
"marker_id": 104,
@@ -658,11 +646,11 @@
1127.25
],
"projected_center_px": [
4641.50048828125,
903.8279418945312
4530.82373046875,
1127.58349609375
],
"reprojection_error_px": 249.3653678894059,
"confidence": 0.3969600163291596
"reprojection_error_px": 0.34154915688463283,
"confidence": 0.39700135080267007
},
{
"marker_id": 67,
@@ -671,11 +659,11 @@
1055.75
],
"projected_center_px": [
3186.029052734375,
869.0663452148438
3288.37841796875,
1056.21875
],
"reprojection_error_px": 212.8377528161418,
"confidence": 0.5839855850345927
"reprojection_error_px": 0.4860223628577969,
"confidence": 0.5839714749266356
},
{
"marker_id": 86,
@@ -684,11 +672,11 @@
989.5
],
"projected_center_px": [
2511.186767578125,
812.1798095703125
2640.646484375,
989.4552001953125
],
"reprojection_error_px": 219.46380570247683,
"confidence": 0.6091566669864215
"reprojection_error_px": 0.15318190042945273,
"confidence": 0.6090685099870305
},
{
"marker_id": 60,
@@ -697,10 +685,10 @@
1011.0
],
"projected_center_px": [
2803.993408203125,
825.0045166015625
2927.63134765625,
1010.5891723632812
],
"reprojection_error_px": 223.2671002675906,
"reprojection_error_px": 0.4313137534258343,
"confidence": 0.6917774793825247
},
{
@@ -710,11 +698,11 @@
956.75
],
"projected_center_px": [
3525.658447265625,
705.0609130859375
3589.486572265625,
957.2701416015625
],
"reprojection_error_px": 259.5983090291678,
"confidence": 0.6937491265566955
"reprojection_error_px": 0.571413792744757,
"confidence": 0.6939122141587843
},
{
"marker_id": 90,
@@ -723,11 +711,11 @@
910.0
],
"projected_center_px": [
3710.393310546875,
621.87841796875
3745.005615234375,
910.19091796875
],
"reprojection_error_px": 290.16276146736817,
"confidence": 0.572417468607282
"reprojection_error_px": 0.319043600211965,
"confidence": 0.5726348871880571
},
{
"marker_id": 91,
@@ -736,10 +724,10 @@
874.5
],
"projected_center_px": [
4088.9189453125,
541.1148071289062
4053.904296875,
874.846923828125
],
"reprojection_error_px": 335.2089192838307,
"reprojection_error_px": 0.3598822455410522,
"confidence": 0.7118063415160157
},
{
@@ -749,10 +737,10 @@
878.75
],
"projected_center_px": [
1109.111083984375,
752.16357421875
1119.5321044921875,
878.5348510742188
],
"reprojection_error_px": 127.0327112442281,
"reprojection_error_px": 0.30621481445170656,
"confidence": 0.684257310321457
},
{
@@ -762,10 +750,10 @@
867.25
],
"projected_center_px": [
1328.9713134765625,
721.536865234375
1382.998046875,
866.8056030273438
],
"reprojection_error_px": 155.58179616265042,
"reprojection_error_px": 0.6704070472506277,
"confidence": 0.6697424063408578
}
]