Claude: Findet .npz Fehler
This commit is contained in:
chk
747
data/evaluations/Scene8/render_b_camera_pose.json
Normal file
747
data/evaluations/Scene8/render_b_camera_pose.json
Normal file
@@ -0,0 +1,747 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T18:36:47Z",
|
||||
"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"
|
||||
},
|
||||
"camera": {
|
||||
"camera_id": "b",
|
||||
"camera_matrix": [
|
||||
[
|
||||
1777.77783203125,
|
||||
0.0,
|
||||
640.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
1777.77783203125,
|
||||
360.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
],
|
||||
"distortion_coefficients": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"estimation": {
|
||||
"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": 39,
|
||||
"used_marker_ids": [
|
||||
63,
|
||||
102,
|
||||
64,
|
||||
58,
|
||||
92,
|
||||
96,
|
||||
103,
|
||||
62,
|
||||
51,
|
||||
79,
|
||||
205,
|
||||
217,
|
||||
208,
|
||||
210,
|
||||
206,
|
||||
207,
|
||||
214,
|
||||
94,
|
||||
76,
|
||||
100,
|
||||
75,
|
||||
68,
|
||||
46,
|
||||
50,
|
||||
72,
|
||||
104,
|
||||
53,
|
||||
60,
|
||||
67,
|
||||
86,
|
||||
88,
|
||||
70,
|
||||
73,
|
||||
82,
|
||||
98,
|
||||
83,
|
||||
61,
|
||||
90,
|
||||
91
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3
|
||||
],
|
||||
"rms": [
|
||||
0.011093638687636574,
|
||||
0.0006436030261217283,
|
||||
0.00010282824998360295,
|
||||
0.00010279252869638501
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 0.2584369670423191,
|
||||
"residual_median_px": 0.18416060091414674,
|
||||
"residual_max_px": 0.522510620901101,
|
||||
"sigma2_normalized": 1.1446829282985532e-08
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.999921977519989,
|
||||
-0.01248433068394661,
|
||||
0.00043103384086862206
|
||||
],
|
||||
[
|
||||
-0.009461755864322186,
|
||||
-0.7794579267501831,
|
||||
-0.6263831257820129
|
||||
],
|
||||
[
|
||||
0.008155946619808674,
|
||||
0.6263301372528076,
|
||||
-0.7795152068138123
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
-0.31134286522865295,
|
||||
0.05270953103899956,
|
||||
1.4960384368896484
|
||||
],
|
||||
"rvec_rad": [
|
||||
2.4646503655184615,
|
||||
-0.015198377206528989,
|
||||
0.0059467625867537155
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.29961568117141724,
|
||||
-0.8998160362243652,
|
||||
1.1993352174758911
|
||||
],
|
||||
"position_mm": [
|
||||
299.6156921386719,
|
||||
-899.8160400390625,
|
||||
1199.335205078125
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 141.2185821533203,
|
||||
"pitch": -0.467306524515152,
|
||||
"yaw": -0.5421447157859802
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
5.1717065956542015e-08,
|
||||
7.387089635935163e-10,
|
||||
2.74028586145257e-09,
|
||||
1.3329136025014982e-09,
|
||||
3.2676436991693444e-09,
|
||||
1.6024438837453037e-08
|
||||
],
|
||||
[
|
||||
7.387089635934132e-10,
|
||||
1.2121044155042461e-08,
|
||||
-5.970347265873502e-09,
|
||||
-9.205320942007325e-10,
|
||||
-3.17031871939386e-09,
|
||||
3.831380908203004e-09
|
||||
],
|
||||
[
|
||||
2.7402858614524353e-09,
|
||||
-5.97034726587355e-09,
|
||||
9.286921070785842e-08,
|
||||
5.834164434234871e-09,
|
||||
-8.93421901324287e-09,
|
||||
-3.530274157941571e-08
|
||||
],
|
||||
[
|
||||
1.3329136025014939e-09,
|
||||
-9.205320942007456e-10,
|
||||
5.8341644342348745e-09,
|
||||
1.26219901595311e-09,
|
||||
-2.634599399517684e-10,
|
||||
-3.9397573923123505e-10
|
||||
],
|
||||
[
|
||||
3.267643699169405e-09,
|
||||
-3.170318719393852e-09,
|
||||
-8.934219013242878e-09,
|
||||
-2.63459939951772e-10,
|
||||
3.05615540701563e-09,
|
||||
4.54489569938144e-09
|
||||
],
|
||||
[
|
||||
1.602443883745306e-08,
|
||||
3.831380908202932e-09,
|
||||
-3.530274157941582e-08,
|
||||
-3.93975739231234e-10,
|
||||
4.544895699381478e-09,
|
||||
3.6165008405682416e-08
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.013029854662509185,
|
||||
0.006308014007668826,
|
||||
0.017460573720022382
|
||||
],
|
||||
"tvec_std_m": [
|
||||
3.5527440323686564e-05,
|
||||
5.528250543359653e-05,
|
||||
0.00019017099780377242
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.0003573986885585613,
|
||||
0.0002670743505114525,
|
||||
0.0003370761524841528
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
0.3573986885585613,
|
||||
0.2670743505114525,
|
||||
0.3370761524841528
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.010410180583974601,
|
||||
"pitch": 0.012986778635693686,
|
||||
"yaw": 0.005728532644028995
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 63,
|
||||
"observed_center_px": [
|
||||
1246.0,
|
||||
678.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1245.9658203125,
|
||||
678.5629272460938
|
||||
],
|
||||
"reprojection_error_px": 0.19016957246538163,
|
||||
"confidence": 0.1539593300495616
|
||||
},
|
||||
{
|
||||
"marker_id": 102,
|
||||
"observed_center_px": [
|
||||
1078.25,
|
||||
665.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1078.44384765625,
|
||||
665.2827758789062
|
||||
],
|
||||
"reprojection_error_px": 0.29114125887371295,
|
||||
"confidence": 0.39637168760361213
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
220.5,
|
||||
635.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
220.38131713867188,
|
||||
635.35791015625
|
||||
],
|
||||
"reprojection_error_px": 0.16040643190012788,
|
||||
"confidence": 0.4633649853376546
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
307.25,
|
||||
668.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
307.1998291015625,
|
||||
668.0831298828125
|
||||
],
|
||||
"reprojection_error_px": 0.09709632571032707,
|
||||
"confidence": 0.3638956157928849
|
||||
},
|
||||
{
|
||||
"marker_id": 92,
|
||||
"observed_center_px": [
|
||||
1064.5,
|
||||
622.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1064.5921630859375,
|
||||
622.5718994140625
|
||||
],
|
||||
"reprojection_error_px": 0.2005339201252592,
|
||||
"confidence": 0.46896024883690896
|
||||
},
|
||||
{
|
||||
"marker_id": 96,
|
||||
"observed_center_px": [
|
||||
716.75,
|
||||
628.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
716.9041137695312,
|
||||
628.114013671875
|
||||
],
|
||||
"reprojection_error_px": 0.19170334199891093,
|
||||
"confidence": 0.44372569385651617
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
382.0,
|
||||
633.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
381.9422607421875,
|
||||
633.0508422851562
|
||||
],
|
||||
"reprojection_error_px": 0.07693347680072558,
|
||||
"confidence": 0.45199802144368495
|
||||
},
|
||||
{
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
760.25,
|
||||
615.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
760.3285522460938,
|
||||
615.1016235351562
|
||||
],
|
||||
"reprojection_error_px": 0.12844375525507903,
|
||||
"confidence": 0.44348322079976393
|
||||
},
|
||||
{
|
||||
"marker_id": 51,
|
||||
"observed_center_px": [
|
||||
461.75,
|
||||
615.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
461.8082580566406,
|
||||
614.9672241210938
|
||||
],
|
||||
"reprojection_error_px": 0.06684504021705301,
|
||||
"confidence": 0.44348322079976393
|
||||
},
|
||||
{
|
||||
"marker_id": 79,
|
||||
"observed_center_px": [
|
||||
643.75,
|
||||
598.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
643.6393432617188,
|
||||
598.9309692382812
|
||||
],
|
||||
"reprojection_error_px": 0.21211972782167363,
|
||||
"confidence": 0.41815762699787656
|
||||
},
|
||||
{
|
||||
"marker_id": 205,
|
||||
"observed_center_px": [
|
||||
1181.0,
|
||||
502.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1180.7822265625,
|
||||
502.1390686035156
|
||||
],
|
||||
"reprojection_error_px": 0.25838991188580196,
|
||||
"confidence": 0.3958181457519531
|
||||
},
|
||||
{
|
||||
"marker_id": 217,
|
||||
"observed_center_px": [
|
||||
1058.0,
|
||||
503.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1058.0450439453125,
|
||||
503.3835754394531
|
||||
],
|
||||
"reprojection_error_px": 0.14096579384521252,
|
||||
"confidence": 0.4015868133874269
|
||||
},
|
||||
{
|
||||
"marker_id": 208,
|
||||
"observed_center_px": [
|
||||
688.75,
|
||||
507.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
689.0005493164062,
|
||||
507.1256103515625
|
||||
],
|
||||
"reprojection_error_px": 0.2802729390635029,
|
||||
"confidence": 0.3776
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
291.0,
|
||||
441.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
291.14788818359375,
|
||||
441.398193359375
|
||||
],
|
||||
"reprojection_error_px": 0.3816265546768288,
|
||||
"confidence": 0.3320910299473707
|
||||
},
|
||||
{
|
||||
"marker_id": 206,
|
||||
"observed_center_px": [
|
||||
1043.0,
|
||||
424.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1042.8446044921875,
|
||||
424.4183044433594
|
||||
],
|
||||
"reprojection_error_px": 0.17556174931666155,
|
||||
"confidence": 0.3579602826436361
|
||||
},
|
||||
{
|
||||
"marker_id": 207,
|
||||
"observed_center_px": [
|
||||
1162.0,
|
||||
423.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1161.4781494140625,
|
||||
423.2585144042969
|
||||
],
|
||||
"reprojection_error_px": 0.5219200409294921,
|
||||
"confidence": 0.343462485354258
|
||||
},
|
||||
{
|
||||
"marker_id": 214,
|
||||
"observed_center_px": [
|
||||
686.25,
|
||||
427.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
686.1656494140625,
|
||||
427.9052429199219
|
||||
],
|
||||
"reprojection_error_px": 0.17667876367540403,
|
||||
"confidence": 0.3244367816091954
|
||||
},
|
||||
{
|
||||
"marker_id": 94,
|
||||
"observed_center_px": [
|
||||
1252.0,
|
||||
279.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1251.8607177734375,
|
||||
279.63677978515625
|
||||
],
|
||||
"reprojection_error_px": 0.1952133403832778,
|
||||
"confidence": 0.06057156860351561
|
||||
},
|
||||
{
|
||||
"marker_id": 76,
|
||||
"observed_center_px": [
|
||||
1046.0,
|
||||
287.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1046.0728759765625,
|
||||
287.1498718261719
|
||||
],
|
||||
"reprojection_error_px": 0.35763199810441426,
|
||||
"confidence": 0.2459421895345052
|
||||
},
|
||||
{
|
||||
"marker_id": 100,
|
||||
"observed_center_px": [
|
||||
1173.25,
|
||||
281.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1173.478759765625,
|
||||
281.41015625
|
||||
],
|
||||
"reprojection_error_px": 0.24577007503532125,
|
||||
"confidence": 0.24407473894265982
|
||||
},
|
||||
{
|
||||
"marker_id": 75,
|
||||
"observed_center_px": [
|
||||
271.75,
|
||||
271.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
271.7691955566406,
|
||||
271.47454833984375
|
||||
],
|
||||
"reprojection_error_px": 0.03187877663042744,
|
||||
"confidence": 0.23896265492072474
|
||||
},
|
||||
{
|
||||
"marker_id": 68,
|
||||
"observed_center_px": [
|
||||
924.0,
|
||||
285.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
923.9862670898438,
|
||||
285.10125732421875
|
||||
],
|
||||
"reprojection_error_px": 0.14937528717939152,
|
||||
"confidence": 0.24909137483284013
|
||||
},
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
881.75,
|
||||
273.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
882.051025390625,
|
||||
273.3699645996094
|
||||
],
|
||||
"reprojection_error_px": 0.3279107975588544,
|
||||
"confidence": 0.23734254719660833
|
||||
},
|
||||
{
|
||||
"marker_id": 50,
|
||||
"observed_center_px": [
|
||||
919.0,
|
||||
251.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
918.6591186523438,
|
||||
251.75372314453125
|
||||
],
|
||||
"reprojection_error_px": 0.4249417927796309,
|
||||
"confidence": 0.24364819717407224
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
777.75,
|
||||
267.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
777.6388549804688,
|
||||
267.1112060546875
|
||||
],
|
||||
"reprojection_error_px": 0.1778116267908575,
|
||||
"confidence": 0.21841319450965294
|
||||
},
|
||||
{
|
||||
"marker_id": 104,
|
||||
"observed_center_px": [
|
||||
1184.0,
|
||||
228.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1184.112060546875,
|
||||
227.8472900390625
|
||||
],
|
||||
"reprojection_error_px": 0.18941462017346192,
|
||||
"confidence": 0.22417849731445313
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
825.5,
|
||||
252.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
825.0706787109375,
|
||||
252.29075622558594
|
||||
],
|
||||
"reprojection_error_px": 0.4312514801902696,
|
||||
"confidence": 0.22367025973033955
|
||||
},
|
||||
{
|
||||
"marker_id": 60,
|
||||
"observed_center_px": [
|
||||
765.0,
|
||||
197.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
764.9937744140625,
|
||||
197.23472595214844
|
||||
],
|
||||
"reprojection_error_px": 0.016494073421596582,
|
||||
"confidence": 0.2000031054889577
|
||||
},
|
||||
{
|
||||
"marker_id": 67,
|
||||
"observed_center_px": [
|
||||
859.25,
|
||||
209.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
859.3123779296875,
|
||||
209.16848754882812
|
||||
],
|
||||
"reprojection_error_px": 0.10264154036327593,
|
||||
"confidence": 0.19627771759033205
|
||||
},
|
||||
{
|
||||
"marker_id": 86,
|
||||
"observed_center_px": [
|
||||
690.25,
|
||||
192.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
689.9580078125,
|
||||
191.7041778564453
|
||||
],
|
||||
"reprojection_error_px": 0.41565632219217513,
|
||||
"confidence": 0.18966921411877496
|
||||
},
|
||||
{
|
||||
"marker_id": 88,
|
||||
"observed_center_px": [
|
||||
1105.0,
|
||||
169.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1105.23486328125,
|
||||
170.2167510986328
|
||||
],
|
||||
"reprojection_error_px": 0.522510620901101,
|
||||
"confidence": 0.20782158780899712
|
||||
},
|
||||
{
|
||||
"marker_id": 70,
|
||||
"observed_center_px": [
|
||||
938.0,
|
||||
183.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
938.0252685546875,
|
||||
183.3175811767578
|
||||
],
|
||||
"reprojection_error_px": 0.18416060091414674,
|
||||
"confidence": 0.193995418548584
|
||||
},
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
543.5,
|
||||
162.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
543.4841918945312,
|
||||
162.51072692871094
|
||||
],
|
||||
"reprojection_error_px": 0.01910401000001463,
|
||||
"confidence": 0.1929997138977051
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
540.0,
|
||||
189.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
539.999267578125,
|
||||
189.0796356201172
|
||||
],
|
||||
"reprojection_error_px": 0.07963898814809224,
|
||||
"confidence": 0.19249963767972095
|
||||
},
|
||||
{
|
||||
"marker_id": 98,
|
||||
"observed_center_px": [
|
||||
908.75,
|
||||
172.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
908.7716674804688,
|
||||
172.63194274902344
|
||||
],
|
||||
"reprojection_error_px": 0.13371001731256144,
|
||||
"confidence": 0.1899538473288218
|
||||
},
|
||||
{
|
||||
"marker_id": 83,
|
||||
"observed_center_px": [
|
||||
361.0,
|
||||
159.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
361.09381103515625,
|
||||
159.614990234375
|
||||
],
|
||||
"reprojection_error_px": 0.1644023939339224,
|
||||
"confidence": 0.17676838843571283
|
||||
},
|
||||
{
|
||||
"marker_id": 61,
|
||||
"observed_center_px": [
|
||||
292.25,
|
||||
162.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
292.19354248046875,
|
||||
162.67332458496094
|
||||
],
|
||||
"reprojection_error_px": 0.18228785824487245,
|
||||
"confidence": 0.1668050360320266
|
||||
},
|
||||
{
|
||||
"marker_id": 90,
|
||||
"observed_center_px": [
|
||||
978.25,
|
||||
170.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
978.6781005859375,
|
||||
171.01870727539062
|
||||
],
|
||||
"reprojection_error_px": 0.5054440735906239,
|
||||
"confidence": 0.17612778902053833
|
||||
},
|
||||
{
|
||||
"marker_id": 91,
|
||||
"observed_center_px": [
|
||||
1059.25,
|
||||
161.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1059.4254150390625,
|
||||
161.79110717773438
|
||||
],
|
||||
"reprojection_error_px": 0.18016724449961458,
|
||||
"confidence": 0.17612778902053833
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user