Claude: Findet .npz Fehler
This commit is contained in:
chk
569
data/evaluations/Scene8/render_f_camera_pose_v8.json
Normal file
569
data/evaluations/Scene8/render_f_camera_pose_v8.json
Normal file
@@ -0,0 +1,569 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T18:37:02Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_f_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
},
|
||||
"camera": {
|
||||
"camera_id": "f",
|
||||
"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": 26,
|
||||
"used_marker_ids": [
|
||||
46,
|
||||
56,
|
||||
208,
|
||||
47,
|
||||
62,
|
||||
54,
|
||||
53,
|
||||
97,
|
||||
72,
|
||||
55,
|
||||
96,
|
||||
84,
|
||||
79,
|
||||
66,
|
||||
95,
|
||||
103,
|
||||
73,
|
||||
210,
|
||||
58,
|
||||
69,
|
||||
82,
|
||||
81,
|
||||
101,
|
||||
64,
|
||||
52,
|
||||
83
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4
|
||||
],
|
||||
"rms": [
|
||||
0.007353373451031194,
|
||||
0.0003710600488929596,
|
||||
8.906113930528944e-05,
|
||||
8.900491419954867e-05,
|
||||
8.900489226102867e-05
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 0.22376788390648267,
|
||||
"residual_median_px": 0.18825857568728324,
|
||||
"residual_max_px": 0.39640627876435003,
|
||||
"sigma2_normalized": 8.95515834760647e-09
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.31644874811172485,
|
||||
0.9486086964607239,
|
||||
0.00130163982976228
|
||||
],
|
||||
[
|
||||
0.9183046221733093,
|
||||
-0.3059948980808258,
|
||||
-0.2511647045612335
|
||||
],
|
||||
[
|
||||
-0.23785872757434845,
|
||||
0.08067604899406433,
|
||||
-0.9679434895515442
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
0.1261211733254225,
|
||||
-0.19737202247525956,
|
||||
1.5084599614675736
|
||||
],
|
||||
"rvec_rad": [
|
||||
2.374582435142889,
|
||||
1.711381147791732,
|
||||
-0.21684955389903504
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.5001371392778484,
|
||||
-0.3017310886953837,
|
||||
1.4103669486367805
|
||||
],
|
||||
"position_mm": [
|
||||
500.1371392778484,
|
||||
-301.7310886953837,
|
||||
1410.3669486367805
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 175.2355194091797,
|
||||
"pitch": 13.760193824768066,
|
||||
"yaw": 70.9859848022461
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
1.9619416958563405e-07,
|
||||
1.232837325475714e-07,
|
||||
3.537784977398958e-08,
|
||||
-1.2874449920644035e-09,
|
||||
-1.3120643407548253e-09,
|
||||
-2.430518562789776e-09
|
||||
],
|
||||
[
|
||||
1.2328373254757045e-07,
|
||||
1.0492379739637157e-07,
|
||||
5.587099350476958e-09,
|
||||
2.8771773145648727e-09,
|
||||
-1.376635290194795e-09,
|
||||
2.095544274360706e-09
|
||||
],
|
||||
[
|
||||
3.537784977401896e-08,
|
||||
5.587099350501193e-09,
|
||||
7.216196836933972e-07,
|
||||
4.454379192917962e-09,
|
||||
-1.137281486631975e-08,
|
||||
-1.3327718453309484e-07
|
||||
],
|
||||
[
|
||||
-1.287444992064164e-09,
|
||||
2.8771773145650617e-09,
|
||||
4.454379192917376e-09,
|
||||
1.574259199353428e-09,
|
||||
-9.159737376748967e-11,
|
||||
1.4651163057535826e-09
|
||||
],
|
||||
[
|
||||
-1.3120643407551655e-09,
|
||||
-1.3766352901952072e-09,
|
||||
-1.1372814866319643e-08,
|
||||
-9.159737376750992e-11,
|
||||
9.672826358233463e-10,
|
||||
2.788243505342515e-09
|
||||
],
|
||||
[
|
||||
-2.43051856279491e-09,
|
||||
2.0955442743564383e-09,
|
||||
-1.3327718453309545e-07,
|
||||
1.4651163057534658e-09,
|
||||
2.7882435053425046e-09,
|
||||
4.3386424804938955e-08
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.02537848430759805,
|
||||
0.018559216264706715,
|
||||
0.048671733890649
|
||||
],
|
||||
"tvec_std_m": [
|
||||
3.967693535737643e-05,
|
||||
3.110116775658667e-05,
|
||||
0.00020829408250101335
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.0008369888619904323,
|
||||
0.0007984829430878973,
|
||||
0.0002871572860910438
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
0.8369888619904322,
|
||||
0.7984829430878972,
|
||||
0.2871572860910438
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.03325401245890173,
|
||||
"pitch": 0.03236575464664165,
|
||||
"yaw": 0.012048758808889037
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
1234.0,
|
||||
666.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1234.341064453125,
|
||||
665.8336181640625
|
||||
],
|
||||
"reprojection_error_px": 0.37948369729856446,
|
||||
"confidence": 0.2988751797371847
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
1196.0,
|
||||
626.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1196.113525390625,
|
||||
626.8538208007812
|
||||
],
|
||||
"reprojection_error_px": 0.1538400890256465,
|
||||
"confidence": 0.5697620483284124
|
||||
},
|
||||
{
|
||||
"marker_id": 208,
|
||||
"observed_center_px": [
|
||||
831.25,
|
||||
547.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
831.465576171875,
|
||||
547.9014282226562
|
||||
],
|
||||
"reprojection_error_px": 0.2634456158244247,
|
||||
"confidence": 0.5829305549976826
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
593.75,
|
||||
623.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
593.9198608398438,
|
||||
623.669189453125
|
||||
],
|
||||
"reprojection_error_px": 0.18810382611382645,
|
||||
"confidence": 0.5768583617164568
|
||||
},
|
||||
{
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
751.0,
|
||||
651.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
750.7454223632812,
|
||||
651.6237182617188
|
||||
],
|
||||
"reprojection_error_px": 0.28417749830104067,
|
||||
"confidence": 0.5593704450665263
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
540.5,
|
||||
639.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
540.5787353515625,
|
||||
638.9071655273438
|
||||
],
|
||||
"reprojection_error_px": 0.12172713296153204,
|
||||
"confidence": 0.5766374039623903
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
1240.5,
|
||||
594.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1240.2264404296875,
|
||||
594.78125
|
||||
],
|
||||
"reprojection_error_px": 0.27533870234596447,
|
||||
"confidence": 0.21364841201201337
|
||||
},
|
||||
{
|
||||
"marker_id": 97,
|
||||
"observed_center_px": [
|
||||
491.5,
|
||||
605.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
491.5794372558594,
|
||||
605.20458984375
|
||||
],
|
||||
"reprojection_error_px": 0.09150060059429786,
|
||||
"confidence": 0.5705029634947052
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
1197.75,
|
||||
548.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1197.5211181640625,
|
||||
548.55517578125
|
||||
],
|
||||
"reprojection_error_px": 0.2354384455832745,
|
||||
"confidence": 0.5440516905787338
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
598.75,
|
||||
542.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
598.8782958984375,
|
||||
542.7704467773438
|
||||
],
|
||||
"reprojection_error_px": 0.12991500398195047,
|
||||
"confidence": 0.5461315019106076
|
||||
},
|
||||
{
|
||||
"marker_id": 96,
|
||||
"observed_center_px": [
|
||||
723.0,
|
||||
614.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
722.8250122070312,
|
||||
614.3399658203125
|
||||
],
|
||||
"reprojection_error_px": 0.237132170648196,
|
||||
"confidence": 0.5763709732716893
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"observed_center_px": [
|
||||
1254.25,
|
||||
485.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1254.1002197265625,
|
||||
484.99395751953125
|
||||
],
|
||||
"reprojection_error_px": 0.14990210766105824,
|
||||
"confidence": 0.06519221426443914
|
||||
},
|
||||
{
|
||||
"marker_id": 79,
|
||||
"observed_center_px": [
|
||||
731.5,
|
||||
535.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
731.5431518554688,
|
||||
535.8726806640625
|
||||
],
|
||||
"reprojection_error_px": 0.13004856002744464,
|
||||
"confidence": 0.5460974493377216
|
||||
},
|
||||
{
|
||||
"marker_id": 66,
|
||||
"observed_center_px": [
|
||||
453.0,
|
||||
495.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
452.8733825683594,
|
||||
495.8895263671875
|
||||
],
|
||||
"reprojection_error_px": 0.18841332526074003,
|
||||
"confidence": 0.5349107016469481
|
||||
},
|
||||
{
|
||||
"marker_id": 95,
|
||||
"observed_center_px": [
|
||||
548.75,
|
||||
435.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
548.5177001953125,
|
||||
434.867431640625
|
||||
],
|
||||
"reprojection_error_px": 0.2674650802726027,
|
||||
"confidence": 0.5227826547122322
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
618.0,
|
||||
313.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
617.8211059570312,
|
||||
313.5081481933594
|
||||
],
|
||||
"reprojection_error_px": 0.1790795121300221,
|
||||
"confidence": 0.5046333482067283
|
||||
},
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
1247.5,
|
||||
251.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1247.839599609375,
|
||||
251.27215576171875
|
||||
],
|
||||
"reprojection_error_px": 0.3403215721416887,
|
||||
"confidence": 0.13607001327160623
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
775.0,
|
||||
150.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
775.3216552734375,
|
||||
150.4322509765625
|
||||
],
|
||||
"reprojection_error_px": 0.328712709074182,
|
||||
"confidence": 0.46988879526830113
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
562.75,
|
||||
264.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
562.7431030273438,
|
||||
264.154052734375
|
||||
],
|
||||
"reprojection_error_px": 0.09619483360729601,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
476.25,
|
||||
240.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
476.10382080078125,
|
||||
241.11846923828125
|
||||
],
|
||||
"reprojection_error_px": 0.39640627876435003,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
1207.5,
|
||||
261.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1207.3634033203125,
|
||||
261.34552001953125
|
||||
],
|
||||
"reprojection_error_px": 0.20621037138629777,
|
||||
"confidence": 0.49001748422717006
|
||||
},
|
||||
{
|
||||
"marker_id": 81,
|
||||
"observed_center_px": [
|
||||
1027.25,
|
||||
214.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1027.4215087890625,
|
||||
214.0127716064453
|
||||
],
|
||||
"reprojection_error_px": 0.17198365810994679,
|
||||
"confidence": 0.44182011377693337
|
||||
},
|
||||
{
|
||||
"marker_id": 101,
|
||||
"observed_center_px": [
|
||||
1162.25,
|
||||
153.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1162.3416748046875,
|
||||
153.4523468017578
|
||||
],
|
||||
"reprojection_error_px": 0.10332036158086408,
|
||||
"confidence": 0.46225891142368675
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
570.5,
|
||||
177.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
570.4990844726562,
|
||||
177.69577026367188
|
||||
],
|
||||
"reprojection_error_px": 0.054237463920569835,
|
||||
"confidence": 0.43211414091114625
|
||||
},
|
||||
{
|
||||
"marker_id": 52,
|
||||
"observed_center_px": [
|
||||
1054.5,
|
||||
160.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1054.46826171875,
|
||||
160.70294189453125
|
||||
],
|
||||
"reprojection_error_px": 0.20540869273873757,
|
||||
"confidence": 0.45818248585417487
|
||||
},
|
||||
{
|
||||
"marker_id": 83,
|
||||
"observed_center_px": [
|
||||
1173.0,
|
||||
64.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1172.84375,
|
||||
64.00605773925781
|
||||
],
|
||||
"reprojection_error_px": 0.15636738376309697,
|
||||
"confidence": 0.4377857805109236
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
},
|
||||
"v8_z_correction_mm": 11.151935468550299
|
||||
}
|
||||
Reference in New Issue
Block a user