diff --git a/data/evaluations/Scene6/aruco_marker_poses.json b/data/evaluations/Scene6/aruco_marker_poses.json
index 8ff2416..26bd2db 100644
--- a/data/evaluations/Scene6/aruco_marker_poses.json
+++ b/data/evaluations/Scene6/aruco_marker_poses.json
@@ -1,11 +1,139 @@
{
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diff --git a/data/evaluations/Scene6/aruco_positions_initial.json b/data/evaluations/Scene6/aruco_positions_initial.json
index fc4ef34..c32efa7 100644
--- a/data/evaluations/Scene6/aruco_positions_initial.json
+++ b/data/evaluations/Scene6/aruco_positions_initial.json
@@ -1,12 +1,140 @@
{
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diff --git a/data/evaluations/Scene6/aruco_positions_optimized.json b/data/evaluations/Scene6/aruco_positions_optimized.json
index 1cade45..346891e 100644
--- a/data/evaluations/Scene6/aruco_positions_optimized.json
+++ b/data/evaluations/Scene6/aruco_positions_optimized.json
@@ -1,11 +1,139 @@
{
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- "created_utc": "2026-06-02T04:19:22Z",
+ "created_utc": "2026-06-02T05:05:07Z",
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"num_markers": 54,
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diff --git a/data/evaluations/Scene6/render_a_aruco_detection.json b/data/evaluations/Scene6/render_a_aruco_detection.json
index d6a2669..0f81305 100644
--- a/data/evaluations/Scene6/render_a_aruco_detection.json
+++ b/data/evaluations/Scene6/render_a_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-02T04:19:00Z",
+ "created_utc": "2026-06-02T05:04:48Z",
"vision_config": {
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@@ -46,7 +46,7 @@
},
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+ "observation_id": "29fa79d9-5192-4a73-8e38-11288707c9d4",
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@@ -100,7 +100,7 @@
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@@ -262,7 +262,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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@@ -532,7 +532,7 @@
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@@ -586,7 +586,7 @@
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@@ -640,7 +640,7 @@
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@@ -694,7 +694,7 @@
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@@ -748,7 +748,7 @@
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@@ -856,7 +856,7 @@
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@@ -910,7 +910,7 @@
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@@ -964,7 +964,7 @@
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@@ -1018,7 +1018,7 @@
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@@ -1072,7 +1072,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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@@ -1342,7 +1342,7 @@
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@@ -1396,7 +1396,7 @@
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@@ -1450,7 +1450,7 @@
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diff --git a/data/evaluations/Scene6/render_a_camera_pose.json b/data/evaluations/Scene6/render_a_camera_pose.json
index 86d87b2..d5aa3dc 100644
--- a/data/evaluations/Scene6/render_a_camera_pose.json
+++ b/data/evaluations/Scene6/render_a_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-02T04:19:04Z",
+ "created_utc": "2026-06-02T05:04:50Z",
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diff --git a/data/evaluations/Scene6/render_b_aruco_detection.json b/data/evaluations/Scene6/render_b_aruco_detection.json
index 74dfac9..c6ded67 100644
--- a/data/evaluations/Scene6/render_b_aruco_detection.json
+++ b/data/evaluations/Scene6/render_b_aruco_detection.json
@@ -1,6 +1,6 @@
{
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@@ -46,7 +46,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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@@ -1396,7 +1396,7 @@
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@@ -1450,7 +1450,7 @@
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@@ -1720,7 +1720,7 @@
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@@ -1774,7 +1774,7 @@
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@@ -1882,7 +1882,7 @@
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@@ -1936,7 +1936,7 @@
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@@ -1990,7 +1990,7 @@
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@@ -2044,7 +2044,7 @@
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@@ -2098,7 +2098,7 @@
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@@ -2152,7 +2152,7 @@
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@@ -2206,7 +2206,7 @@
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@@ -2260,7 +2260,7 @@
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@@ -2314,7 +2314,7 @@
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+ "observation_id": "7612c2e4-2540-455f-8250-2d6a77705a41",
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@@ -2368,7 +2368,7 @@
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@@ -2422,7 +2422,7 @@
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@@ -2476,7 +2476,7 @@
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@@ -2530,7 +2530,7 @@
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@@ -2584,7 +2584,7 @@
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@@ -2638,7 +2638,7 @@
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@@ -2746,7 +2746,7 @@
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diff --git a/data/evaluations/Scene6/render_b_camera_pose.json b/data/evaluations/Scene6/render_b_camera_pose.json
index 575c382..642a073 100644
--- a/data/evaluations/Scene6/render_b_camera_pose.json
+++ b/data/evaluations/Scene6/render_b_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-02T04:19:04Z",
+ "created_utc": "2026-06-02T05:04:50Z",
"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"
diff --git a/data/evaluations/Scene6/render_c_camera_pose.json b/data/evaluations/Scene6/render_c_camera_pose.json
index addbb67..2541fbe 100644
--- a/data/evaluations/Scene6/render_c_camera_pose.json
+++ b/data/evaluations/Scene6/render_c_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-02T04:19:04Z",
+ "created_utc": "2026-06-02T05:04:51Z",
"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"
diff --git a/data/evaluations/Scene6/render_d_camera_pose.json b/data/evaluations/Scene6/render_d_camera_pose.json
index 4f31d67..5b107a0 100644
--- a/data/evaluations/Scene6/render_d_camera_pose.json
+++ b/data/evaluations/Scene6/render_d_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-02T04:19:05Z",
+ "created_utc": "2026-06-02T05:04:51Z",
"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"
diff --git a/data/evaluations/Scene6/render_e_camera_pose.json b/data/evaluations/Scene6/render_e_camera_pose.json
index a575bf9..55acd3d 100644
--- a/data/evaluations/Scene6/render_e_camera_pose.json
+++ b/data/evaluations/Scene6/render_e_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-02T04:19:05Z",
+ "created_utc": "2026-06-02T05:04:51Z",
"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"
diff --git a/data/evaluations/Scene6/render_f_aruco_detection.json b/data/evaluations/Scene6/render_f_aruco_detection.json
index 5ea50f4..f718b44 100644
--- a/data/evaluations/Scene6/render_f_aruco_detection.json
+++ b/data/evaluations/Scene6/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
{
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+ "created_utc": "2026-06-02T05:04:49Z",
"vision_config": {
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"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "cc8833c3-483f-45be-b428-05137233d155",
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@@ -100,7 +100,7 @@
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+ "observation_id": "906ead93-9f61-439e-bb72-726976aca6e4",
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@@ -154,7 +154,7 @@
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+ "observation_id": "4c58dcb0-8d4c-4df3-ae45-b78bff5dbcb1",
"type": "aruco",
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+ "observation_id": "d1ef0cbe-9fcf-4f97-be6e-682af6a48d7c",
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+ "observation_id": "72888d5a-95dc-4274-8bc7-4f5faca4090e",
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"confidence": 0.2988751797371847
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{
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@@ -370,7 +370,7 @@
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+ "observation_id": "d975752a-083e-40b1-b950-b78902f3fd7e",
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@@ -532,7 +532,7 @@
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@@ -586,7 +586,7 @@
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+ "observation_id": "23745501-fbc4-4218-ac61-9135be2ba643",
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@@ -640,7 +640,7 @@
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@@ -694,7 +694,7 @@
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+ "observation_id": "d095b301-aef4-4e3c-a2dc-8a98b9418450",
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@@ -748,7 +748,7 @@
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+ "observation_id": "806aa8f7-87fd-4537-8d63-cfb329396b04",
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@@ -802,7 +802,7 @@
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+ "observation_id": "96b5f5fa-5d18-4e29-9805-273e9e2de45b",
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@@ -856,7 +856,7 @@
"confidence": 0.5763709732716893
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{
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+ "observation_id": "6571f37a-c323-43b3-8740-8c1dbba309e8",
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@@ -910,7 +910,7 @@
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+ "observation_id": "3b7ab41e-8357-4e9f-8e4d-7e9390a7c2ab",
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@@ -964,7 +964,7 @@
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@@ -1018,7 +1018,7 @@
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{
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+ "observation_id": "eb46fa64-f3d8-4898-a885-211448cb2f04",
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@@ -1072,7 +1072,7 @@
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+ "observation_id": "860884a6-79e5-4d77-a79f-56788516bde2",
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@@ -1126,7 +1126,7 @@
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+ "observation_id": "82b9c91d-67a3-422a-acc8-4150f3cb110b",
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@@ -1180,7 +1180,7 @@
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{
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+ "observation_id": "9a7c0213-1961-4628-9ff6-cd9d6a6b3c8c",
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@@ -1234,7 +1234,7 @@
"confidence": 0.13607001327160623
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{
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+ "observation_id": "84b36d59-29b9-4c51-9a09-0bb33686d536",
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@@ -1288,7 +1288,7 @@
"confidence": 0.46988879526830113
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{
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+ "observation_id": "033bcc58-9052-4bc9-9257-7698957dffe6",
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@@ -1342,7 +1342,7 @@
"confidence": 0.4655541127751829
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{
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+ "observation_id": "a09f27ed-a0e9-4120-806d-6de8acfc8895",
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@@ -1396,7 +1396,7 @@
"confidence": 0.4655541127751829
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{
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+ "observation_id": "b0f99014-a0fb-425d-b1ef-ed2703b75aa1",
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@@ -1450,7 +1450,7 @@
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+ "observation_id": "43e2c11b-e176-4c5d-8a6f-3d33cb8bb45c",
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@@ -1504,7 +1504,7 @@
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@@ -1558,7 +1558,7 @@
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+ "observation_id": "4fa38fc3-b109-49dc-a432-4bf16f946a2c",
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@@ -1612,7 +1612,7 @@
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+ "observation_id": "61b95c00-87b9-438a-9e92-c5029072848f",
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@@ -1666,7 +1666,7 @@
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+ "observation_id": "a82fa8cc-5b77-4f8e-a4f6-9cd52d8fc3f5",
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@@ -1720,7 +1720,7 @@
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+ "observation_id": "284535a0-de51-45a3-b12e-43a1a4d83980",
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@@ -1774,7 +1774,7 @@
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+ "observation_id": "14fd473a-d68c-4a8c-bf72-c76aaca16b6b",
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@@ -1828,7 +1828,7 @@
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+ "observation_id": "dffaf77e-fc8c-46f6-8b73-3424b2fc9b14",
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@@ -1882,7 +1882,7 @@
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+ "observation_id": "a042ba99-9f32-4bc3-b9de-eb07b77ab713",
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diff --git a/data/evaluations/Scene6/render_f_camera_pose.json b/data/evaluations/Scene6/render_f_camera_pose.json
index 7fa6407..179ff7e 100644
--- a/data/evaluations/Scene6/render_f_camera_pose.json
+++ b/data/evaluations/Scene6/render_f_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-02T04:19:05Z",
+ "created_utc": "2026-06-02T05:04:52Z",
"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"
diff --git a/data/evaluations/Scene6/render_g_aruco_detection.json b/data/evaluations/Scene6/render_g_aruco_detection.json
index 303a5a5..92f42d5 100644
--- a/data/evaluations/Scene6/render_g_aruco_detection.json
+++ b/data/evaluations/Scene6/render_g_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-02T04:19:03Z",
+ "created_utc": "2026-06-02T05:04:49Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
"detections": [
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+ "observation_id": "011fd8e4-870d-4d54-984e-fa9c04156be9",
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@@ -100,7 +100,7 @@
"confidence": 0.6173789204094284
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{
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+ "observation_id": "4736be80-336b-48a4-b7d8-364f35092ab9",
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@@ -154,7 +154,7 @@
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@@ -208,7 +208,7 @@
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+ "observation_id": "bf81cd85-b628-40ba-aac5-c242a2761a50",
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@@ -262,7 +262,7 @@
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@@ -316,7 +316,7 @@
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{
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@@ -370,7 +370,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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@@ -532,7 +532,7 @@
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@@ -640,7 +640,7 @@
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diff --git a/data/evaluations/Scene6/render_g_camera_pose.json b/data/evaluations/Scene6/render_g_camera_pose.json
index 6c493ad..6d99c3a 100644
--- a/data/evaluations/Scene6/render_g_camera_pose.json
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diff --git a/data/evaluations/Scene6/robot_state.json b/data/evaluations/Scene6/robot_state.json
index 9401034..0156ba3 100644
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index 515aba3..c61e334 100644
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diff --git a/data/evaluations/Scene8/aruco_positions_initial.json b/data/evaluations/Scene8/aruco_positions_initial.json
index 750a7db..ee18535 100644
--- a/data/evaluations/Scene8/aruco_positions_initial.json
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diff --git a/data/evaluations/Scene8/aruco_positions_optimized.json b/data/evaluations/Scene8/aruco_positions_optimized.json
index fc1c307..ebbe350 100644
--- a/data/evaluations/Scene8/aruco_positions_optimized.json
+++ b/data/evaluations/Scene8/aruco_positions_optimized.json
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diff --git a/data/evaluations/Scene8/render_a_aruco_detection.json b/data/evaluations/Scene8/render_a_aruco_detection.json
index 01ec1d0..a85e517 100644
--- a/data/evaluations/Scene8/render_a_aruco_detection.json
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diff --git a/data/evaluations/Scene8/render_a_camera_pose.json b/data/evaluations/Scene8/render_a_camera_pose.json
index 005447f..c2a5f91 100644
--- a/data/evaluations/Scene8/render_a_camera_pose.json
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{
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diff --git a/data/evaluations/Scene8/render_b_aruco_detection.json b/data/evaluations/Scene8/render_b_aruco_detection.json
index f12fa4e..02f85be 100644
--- a/data/evaluations/Scene8/render_b_aruco_detection.json
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diff --git a/data/evaluations/Scene8/render_b_camera_pose.json b/data/evaluations/Scene8/render_b_camera_pose.json
index c4cee59..97fc6db 100644
--- a/data/evaluations/Scene8/render_b_camera_pose.json
+++ b/data/evaluations/Scene8/render_b_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:47Z",
+ "created_utc": "2026-06-02T05:06:54Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene8/render_c_aruco_detection.json b/data/evaluations/Scene8/render_c_aruco_detection.json
index 9228851..1ec8a01 100644
--- a/data/evaluations/Scene8/render_c_aruco_detection.json
+++ b/data/evaluations/Scene8/render_c_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:43Z",
+ "created_utc": "2026-06-02T05:06:51Z",
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"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
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@@ -100,7 +100,7 @@
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diff --git a/data/evaluations/Scene8/render_c_camera_pose.json b/data/evaluations/Scene8/render_c_camera_pose.json
index 0935308..e96363d 100644
--- a/data/evaluations/Scene8/render_c_camera_pose.json
+++ b/data/evaluations/Scene8/render_c_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:47Z",
+ "created_utc": "2026-06-02T05:06:54Z",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene8/render_d_aruco_detection.json b/data/evaluations/Scene8/render_d_aruco_detection.json
index f5aa36a..a6d6d57 100644
--- a/data/evaluations/Scene8/render_d_aruco_detection.json
+++ b/data/evaluations/Scene8/render_d_aruco_detection.json
@@ -1,6 +1,6 @@
{
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+ "created_utc": "2026-06-02T05:06:51Z",
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"MarkerSize": 0.025
@@ -46,7 +46,7 @@
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@@ -424,7 +424,7 @@
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diff --git a/data/evaluations/Scene8/render_d_camera_pose.json b/data/evaluations/Scene8/render_d_camera_pose.json
index f65273e..5a758a7 100644
--- a/data/evaluations/Scene8/render_d_camera_pose.json
+++ b/data/evaluations/Scene8/render_d_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:48Z",
+ "created_utc": "2026-06-02T05:06:54Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene8/render_e_aruco_detection.json b/data/evaluations/Scene8/render_e_aruco_detection.json
index 28750af..32fb07b 100644
--- a/data/evaluations/Scene8/render_e_aruco_detection.json
+++ b/data/evaluations/Scene8/render_e_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:44Z",
+ "created_utc": "2026-06-02T05:06:52Z",
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"MarkerSize": 0.025
@@ -46,7 +46,7 @@
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@@ -100,7 +100,7 @@
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@@ -910,7 +910,7 @@
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@@ -964,7 +964,7 @@
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@@ -1072,7 +1072,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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@@ -1342,7 +1342,7 @@
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@@ -1396,7 +1396,7 @@
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@@ -1450,7 +1450,7 @@
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@@ -1504,7 +1504,7 @@
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@@ -1612,7 +1612,7 @@
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@@ -1720,7 +1720,7 @@
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diff --git a/data/evaluations/Scene8/render_e_camera_pose.json b/data/evaluations/Scene8/render_e_camera_pose.json
index 51752fa..a47534c 100644
--- a/data/evaluations/Scene8/render_e_camera_pose.json
+++ b/data/evaluations/Scene8/render_e_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T18:36:48Z",
+ "created_utc": "2026-06-02T05:06:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene8/render_f_aruco_detection.json b/data/evaluations/Scene8/render_f_aruco_detection.json
index 0ac8db4..4f6fd6e 100644
--- a/data/evaluations/Scene8/render_f_aruco_detection.json
+++ b/data/evaluations/Scene8/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T18:36:45Z",
+ "created_utc": "2026-06-02T05:06:52Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
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@@ -100,7 +100,7 @@
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@@ -154,7 +154,7 @@
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diff --git a/data/evaluations/Scene8/render_f_camera_pose.json b/data/evaluations/Scene8/render_f_camera_pose.json
index 6626164..1aa8ce7 100644
--- a/data/evaluations/Scene8/render_f_camera_pose.json
+++ b/data/evaluations/Scene8/render_f_camera_pose.json
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{
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diff --git a/data/evaluations/Scene8/render_g_aruco_detection.json b/data/evaluations/Scene8/render_g_aruco_detection.json
index 911207a..bca1dfb 100644
--- a/data/evaluations/Scene8/render_g_aruco_detection.json
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"confidence": 0.07975517738094284
},
{
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+ "observation_id": "25d32ff0-77fe-4cd0-bad9-fc1b6eb1bc81",
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"confidence": 0.17828567290874034
},
{
- "observation_id": "03fa5394-a5fb-4441-8a32-f20f622a3ab7",
+ "observation_id": "1b5d8b3f-96f1-4461-906f-ce26071a0ee3",
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},
{
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+ "observation_id": "ca1df5ea-dc2a-463d-b6d0-dc52e4a8580d",
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@@ -1828,7 +1828,7 @@
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},
{
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diff --git a/data/evaluations/Scene8/render_g_camera_pose.json b/data/evaluations/Scene8/render_g_camera_pose.json
index 3004fe2..bee21ad 100644
--- a/data/evaluations/Scene8/render_g_camera_pose.json
+++ b/data/evaluations/Scene8/render_g_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T18:36:49Z",
+ "created_utc": "2026-06-02T05:06:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_g_aruco_detection.json",
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diff --git a/data/evaluations/Scene8/robot_state.json b/data/evaluations/Scene8/robot_state.json
index 9382e5b..7e8b97f 100644
--- a/data/evaluations/Scene8/robot_state.json
+++ b/data/evaluations/Scene8/robot_state.json
@@ -1,51 +1,58 @@
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- "created_utc": "2026-06-01T22:46:29Z",
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\ No newline at end of file
diff --git a/data/simulation/Scene6/render_c.json b/data/simulation/Scene6/render_c.json
deleted file mode 100644
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diff --git a/data/simulation/Scene6/render_c.png b/data/simulation/Scene6/render_c.png
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diff --git a/data/simulation/Scene6/render_d.json b/data/simulation/Scene6/render_d.json
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diff --git a/data/simulation/Scene6/render_d.png b/data/simulation/Scene6/render_d.png
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- "name": "FingerA_marker_41",
- "id": 41,
- "link": "FingerA",
- "position_m": [
- 0.2865985035896301,
- -0.08433715254068375,
- 0.4387679696083069
- ],
- "position_mm": [
- 286.5985035896301,
- -84.33715254068375,
- 438.7679696083069
- ],
- "rotation_quaternion": [
- 0.5581441521644592,
- -0.06250002235174179,
- -0.10630220174789429,
- -0.8205295205116272
- ],
- "normal": [
- -0.01609768159687519,
- 0.24421626329421997,
- 0.9695872664451599
- ]
- },
- {
- "name": "FingerA_marker_42",
- "id": 42,
- "link": "FingerA",
- "position_m": [
- 0.24684388935565948,
- -0.07634630054235458,
- 0.4630848467350006
- ],
- "position_mm": [
- 246.84388935565948,
- -76.34630054235458,
- 463.0848467350006
- ],
- "rotation_quaternion": [
- 0.41063761711120605,
- 0.2584373950958252,
- 0.35183462500572205,
- -0.8004993796348572
- ],
- "normal": [
- -0.12480488419532776,
- -0.775534987449646,
- 0.6188451051712036
- ]
- },
- {
- "name": "FingerB_marker_43",
- "id": 43,
- "link": "FingerB",
- "position_m": [
- 0.2821648120880127,
- -0.0501088984310627,
- 0.4476774334907532
- ],
- "position_mm": [
- 282.1648120880127,
- -50.1088984310627,
- 447.6774334907532
- ],
- "rotation_quaternion": [
- 0.7969116568565369,
- 0.18472488224506378,
- 0.470951646566391,
- -0.3301711976528168
- ],
- "normal": [
- 0.6286320686340332,
- -0.605408251285553,
- 0.4881625473499298
- ]
- },
- {
- "name": "FingerB_marker_44",
- "id": 44,
- "link": "FingerB",
- "position_m": [
- 0.2479085922241211,
- -0.056147944182157516,
- 0.4123852849006653
- ],
- "position_mm": [
- 247.9085922241211,
- -56.14794418215752,
- 412.3852849006653
- ],
- "rotation_quaternion": [
- 0.9031913876533508,
- -0.17645379900932312,
- -0.3682054281234741,
- -0.13241659104824066
- ],
- "normal": [
- -0.6183891296386719,
- 0.4162561297416687,
- 0.6665776968002319
- ]
- },
- {
- "name": "FingerB_marker_45",
- "id": 45,
- "link": "FingerB",
- "position_m": [
- 0.26229408383369446,
- -0.03773070499300957,
- 0.45348823070526123
- ],
- "position_mm": [
- 262.29408383369446,
- -37.73070499300957,
- 453.48823070526123
- ],
- "rotation_quaternion": [
- 0.5646195411682129,
- -0.5747702717781067,
- -0.457580029964447,
- -0.3761175572872162
- ],
- "normal": [
- -0.08435487747192383,
- 0.9932608008384705,
- -0.07948067784309387
- ]
- }
-]
\ No newline at end of file
diff --git a/data/simulation/Scene6/render_e.npz b/data/simulation/Scene6/render_e.npz
deleted file mode 100644
index b10ee26..0000000
Binary files a/data/simulation/Scene6/render_e.npz and /dev/null differ
diff --git a/data/simulation/Scene6/render_e.png b/data/simulation/Scene6/render_e.png
deleted file mode 100644
index ffdc17c..0000000
Binary files a/data/simulation/Scene6/render_e.png and /dev/null differ
diff --git a/pipeline/3_multiview_bundle_adjustment_v4.py b/pipeline/3_multiview_bundle_adjustment_v4.py
index e9a4bbb..0f629b5 100644
--- a/pipeline/3_multiview_bundle_adjustment_v4.py
+++ b/pipeline/3_multiview_bundle_adjustment_v4.py
@@ -1324,6 +1324,21 @@ def main() -> None:
out_dir = args.outDir or os.path.dirname(args.detections[0]) or "."
os.makedirs(resolve_path(out_dir), exist_ok=True)
+ # camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
+ cameras_section = []
+ for idx, (K, D, R_wc, t_wc) in enumerate(cameras):
+ C = -R_wc.T @ t_wc
+ cam_id = str(idx)
+ base = os.path.basename(str(obs_metadata[idx].get("pose_file", ""))) if idx < len(obs_metadata) else ""
+ if base.startswith("render_") and "_camera_pose" in base:
+ cam_id = base[len("render_"):base.index("_camera_pose")]
+ cameras_section.append({
+ "camera_id": cam_id,
+ "position_m": [float(v) for v in C],
+ "position_mm": [float(v * 1000.0) for v in C],
+ "direction": [float(v) for v in R_wc[2]],
+ })
+
initial_output_markers = []
for marker_id, position in sorted(initial_pos.items()):
normal = marker_meta.get(marker_id, {}).get("normal", None)
@@ -1346,6 +1361,7 @@ def main() -> None:
"num_markers": len(initial_pos),
"num_constraints": len(constraints),
},
+ "cameras": cameras_section,
"markers": initial_output_markers,
}
initial_out_file = os.path.join(out_dir, "aruco_positions_initial.json")
@@ -1407,6 +1423,7 @@ def main() -> None:
"num_markers": len(optimized_pos),
"num_constraints": len(constraints),
},
+ "cameras": cameras_section,
"markers": output_markers,
}
out_file = os.path.join(out_dir, "aruco_positions_optimized.json")
diff --git a/pipeline/3b_corner_marker_poses.py b/pipeline/3b_corner_marker_poses.py
index 00e7dcb..f02fd5e 100644
--- a/pipeline/3b_corner_marker_poses.py
+++ b/pipeline/3b_corner_marker_poses.py
@@ -160,12 +160,25 @@ def main() -> None:
"edge_length_mm": edge_mm,
})
+ # camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
+ cameras_out = []
+ for cid in sorted(cams.keys()):
+ cam = cams[cid]
+ C = -cam["R"].T @ cam["t"]
+ cameras_out.append({
+ "camera_id": cid,
+ "position_m": [float(v) for v in C],
+ "position_mm": [float(v * 1000.0) for v in C],
+ "direction": [float(v) for v in cam["R"][2]],
+ })
+
out_path = args.out or os.path.join(args.evalDir, "aruco_marker_poses.json")
output = {
- "schema_version": "1.0",
+ "schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
"summary": {"num_cameras": len(cams), "num_markers": len(markers_out)},
+ "cameras": cameras_out,
"markers": markers_out,
}
json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2)
diff --git a/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc b/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc
index 6f1b376..120d85d 100644
Binary files a/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc and b/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc differ
diff --git a/run/robot_viewer.html b/run/robot_viewer.html
index e88365e..e74c287 100644
--- a/run/robot_viewer.html
+++ b/run/robot_viewer.html
@@ -267,6 +267,10 @@
Board plane
+
+ Cameras
+
+
@@ -543,7 +547,8 @@ const gObserved = new THREE.Group();
const gObsNormals= new THREE.Group();
const gErrors = new THREE.Group();
const gBoard = new THREE.Group();
-scene.add(gSkeleton, gModel, gNormals, gObserved, gObsNormals, gErrors, gBoard);
+const gCameras = new THREE.Group();
+scene.add(gSkeleton, gModel, gNormals, gObserved, gObsNormals, gErrors, gBoard, gCameras);
// ─── toggle wiring ────────────────────────────────────────────
const toggles = {
@@ -554,6 +559,7 @@ const toggles = {
tObsNormals:gObsNormals,
tErrors: gErrors,
tBoard: gBoard,
+ tCameras: gCameras,
};
for (const [id, grp] of Object.entries(toggles)) {
document.getElementById(id).addEventListener('change', e => {
@@ -568,6 +574,7 @@ for (const [id, grp] of Object.entries(toggles)) {
let robotData = null;
let arucoData = null;
let solutionData = null;
+let cameraData = [];
const joints = { x:0, y:0, z:0, a:0, b:0, c:0, e:0 };
// ─── slider setup ─────────────────────────────────────────────
@@ -651,7 +658,13 @@ document.getElementById('fRobot').addEventListener('change', async e => {
document.getElementById('fAruco').addEventListener('change', async e => {
if (!e.target.files[0]) return;
arucoData = await readJSON(e.target.files[0]);
- setStatus('aruco/markers.json loaded');
+ // Kamera-Posen aus derselben Datei übernehmen (falls vorhanden) → Frusta
+ cameraData = (arucoData.cameras || []).map(c => ({
+ pos_mm: c.position_mm || (c.position_m ? c.position_m.map(v => v * 1000) : null),
+ dir: c.direction,
+ id: c.camera_id
+ })).filter(c => c.pos_mm && c.dir);
+ setStatus('aruco geladen' + (cameraData.length ? ` (+ ${cameraData.length} Kameras)` : ''));
rebuild();
});
@@ -759,6 +772,24 @@ function r2vDir(rx, ry, rz) {
return new THREE.Vector3(rx, rz, -ry).normalize();
}
+// ═══════════════════════════════════════════════════════════════
+// Camera frustum (halbtransparente Pyramide, Spitze = Linse)
+// ═══════════════════════════════════════════════════════════════
+function makeCameraFrustum(posThree, dirThree, size, hexColor) {
+ const geo = new THREE.ConeGeometry(size * 0.6, size, 4);
+ geo.translate(0, -size / 2, 0); // Spitze (Linse) an den lokalen Ursprung
+ geo.rotateY(Math.PI / 4); // Pyramidenkanten ausrichten
+ const mat = new THREE.MeshPhongMaterial({
+ color: hexColor, transparent: true, opacity: 0.28,
+ side: THREE.DoubleSide, depthWrite: false
+ });
+ const m = new THREE.Mesh(geo, mat);
+ m.position.copy(posThree);
+ const d = dirThree.clone().normalize();
+ if (d.lengthSq() > 1e-9) m.quaternion.setFromUnitVectors(new THREE.Vector3(0, -1, 0), d);
+ return m;
+}
+
function rebuild() {
clearGroup(gSkeleton);
clearGroup(gModel);
@@ -767,6 +798,12 @@ function rebuild() {
clearGroup(gObsNormals);
clearGroup(gErrors);
clearGroup(gBoard);
+ clearGroup(gCameras);
+
+ // Kamera-Frusta hängen nicht vom Roboterzustand ab
+ for (const cam of cameraData) {
+ gCameras.add(makeCameraFrustum(r2vArr(cam.pos_mm), r2vDir(...cam.dir), 0.05, 0x9b7bff));
+ }
if (!robotData) return;