Claude: Findet .npz Fehler
This commit is contained in:
601
data/evaluations/Scene9/render_f_camera_pose_v8.json
Normal file
601
data/evaluations/Scene9/render_f_camera_pose_v8.json
Normal file
@@ -0,0 +1,601 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T17:39:38Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\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,
|
||||
1500.0,
|
||||
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": 27,
|
||||
"used_marker_ids": [
|
||||
46,
|
||||
56,
|
||||
208,
|
||||
47,
|
||||
62,
|
||||
54,
|
||||
53,
|
||||
97,
|
||||
72,
|
||||
55,
|
||||
96,
|
||||
84,
|
||||
79,
|
||||
66,
|
||||
95,
|
||||
103,
|
||||
52,
|
||||
73,
|
||||
210,
|
||||
58,
|
||||
69,
|
||||
82,
|
||||
101,
|
||||
64,
|
||||
81,
|
||||
83,
|
||||
75
|
||||
],
|
||||
"history": {
|
||||
"iters": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9,
|
||||
10
|
||||
],
|
||||
"rms": [
|
||||
0.015701356394471733,
|
||||
0.015297855069293168,
|
||||
0.011524674965863707,
|
||||
0.008661433675275389,
|
||||
0.00789850187690886,
|
||||
0.007842132486163736,
|
||||
0.007839540532042596,
|
||||
0.007839421032317734,
|
||||
0.007839415701149656,
|
||||
0.007839415464271995,
|
||||
0.007839415453743833
|
||||
],
|
||||
"lambda": [
|
||||
0.001,
|
||||
0.0005,
|
||||
0.00025,
|
||||
0.000125,
|
||||
6.25e-05,
|
||||
3.125e-05,
|
||||
1.5625e-05,
|
||||
7.8125e-06,
|
||||
3.90625e-06,
|
||||
1.953125e-06,
|
||||
9.765625e-07
|
||||
]
|
||||
},
|
||||
"residual_rms_px": 18.137879039135672,
|
||||
"residual_median_px": 15.891270492416046,
|
||||
"residual_max_px": 32.8404433163514,
|
||||
"sigma2_normalized": 6.913848898029083e-05
|
||||
},
|
||||
"camera_pose": {
|
||||
"world_to_camera": {
|
||||
"rotation_matrix": [
|
||||
[
|
||||
0.3255375623703003,
|
||||
0.8988600373268127,
|
||||
0.29338693618774414
|
||||
],
|
||||
[
|
||||
0.9455116391181946,
|
||||
-0.3075793981552124,
|
||||
-0.1067829430103302
|
||||
],
|
||||
[
|
||||
-0.005743145477026701,
|
||||
0.3121626079082489,
|
||||
-0.9500113129615784
|
||||
]
|
||||
],
|
||||
"translation_m": [
|
||||
0.10647550468277854,
|
||||
-0.1940357287725178,
|
||||
1.3456141914248498
|
||||
],
|
||||
"rvec_rad": [
|
||||
2.334443448932517,
|
||||
1.6668089931536274,
|
||||
0.2599515229751258
|
||||
]
|
||||
},
|
||||
"camera_in_world": {
|
||||
"position_m": [
|
||||
0.15652932822514254,
|
||||
-0.5754384567326216,
|
||||
1.2263905023878365
|
||||
],
|
||||
"position_mm": [
|
||||
156.52932822514254,
|
||||
-575.4384567326216,
|
||||
1226.3905023878365
|
||||
],
|
||||
"orientation_deg": {
|
||||
"roll": 161.81007385253906,
|
||||
"pitch": 0.32905977964401245,
|
||||
"yaw": 71.00152587890625
|
||||
}
|
||||
},
|
||||
"uncertainty": {
|
||||
"pose_covariance_6x6": [
|
||||
[
|
||||
0.0006521111112735179,
|
||||
0.00036528966280300094,
|
||||
-0.00010637666565730888,
|
||||
1.1187114044635454e-06,
|
||||
2.7785039095203165e-05,
|
||||
0.00014853189086861253
|
||||
],
|
||||
[
|
||||
0.00036528966280300365,
|
||||
0.0003633076638036935,
|
||||
2.562778432160452e-05,
|
||||
2.6092071905066404e-05,
|
||||
1.6263683163092177e-05,
|
||||
7.600815489637061e-05
|
||||
],
|
||||
[
|
||||
-0.00010637666565727772,
|
||||
2.562778432162969e-05,
|
||||
0.0017152116736520494,
|
||||
5.891878151451568e-05,
|
||||
3.901380666156852e-07,
|
||||
-0.0004990497236999936
|
||||
],
|
||||
[
|
||||
1.118711404465086e-06,
|
||||
2.609207190506745e-05,
|
||||
5.8918781514514094e-05,
|
||||
1.0796844344238786e-05,
|
||||
6.555994303168036e-07,
|
||||
-3.3813792197815607e-06
|
||||
],
|
||||
[
|
||||
2.77850390952032e-05,
|
||||
1.626368316309203e-05,
|
||||
3.901380666137898e-07,
|
||||
6.555994303167142e-07,
|
||||
5.6739233703903745e-06,
|
||||
8.500206420348859e-06
|
||||
],
|
||||
[
|
||||
0.00014853189086860418,
|
||||
7.600815489636319e-05,
|
||||
-0.0004990497237000007,
|
||||
-3.3813792197823214e-06,
|
||||
8.500206420348362e-06,
|
||||
0.0002672399327877841
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
1.4631317428727735,
|
||||
1.0920937257134558,
|
||||
2.3729112444167018
|
||||
],
|
||||
"tvec_std_m": [
|
||||
0.0032858551922199473,
|
||||
0.0023819998678401254,
|
||||
0.016347474813798737
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.03722572649769533,
|
||||
0.030657108809873723,
|
||||
0.024724327431695548
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
37.22572649769533,
|
||||
30.657108809873723,
|
||||
24.72432743169555
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 1.232318313836353,
|
||||
"pitch": 1.6371795162133258,
|
||||
"yaw": 0.48210298661799955
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 46,
|
||||
"observed_center_px": [
|
||||
1234.0,
|
||||
666.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1229.82373046875,
|
||||
636.6405029296875
|
||||
],
|
||||
"reprojection_error_px": 29.655038280523858,
|
||||
"confidence": 0.2988751797371847
|
||||
},
|
||||
{
|
||||
"marker_id": 56,
|
||||
"observed_center_px": [
|
||||
1196.0,
|
||||
626.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1196.3397216796875,
|
||||
603.91357421875
|
||||
],
|
||||
"reprojection_error_px": 22.838952543454994,
|
||||
"confidence": 0.5697620483284124
|
||||
},
|
||||
{
|
||||
"marker_id": 208,
|
||||
"observed_center_px": [
|
||||
831.25,
|
||||
547.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
859.1162719726562,
|
||||
548.44580078125
|
||||
],
|
||||
"reprojection_error_px": 27.874957441783394,
|
||||
"confidence": 0.5829305549976826
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
593.75,
|
||||
623.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
595.1937866210938,
|
||||
624.6065673828125
|
||||
],
|
||||
"reprojection_error_px": 1.6787577218132352,
|
||||
"confidence": 0.5768583617164568
|
||||
},
|
||||
{
|
||||
"marker_id": 62,
|
||||
"observed_center_px": [
|
||||
751.0,
|
||||
651.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
765.1891479492188,
|
||||
644.5945434570312
|
||||
],
|
||||
"reprojection_error_px": 15.891270492416046,
|
||||
"confidence": 0.5593704450665263
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
540.5,
|
||||
639.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
535.7850341796875,
|
||||
642.0477905273438
|
||||
],
|
||||
"reprojection_error_px": 5.614261285804342,
|
||||
"confidence": 0.5766374039623903
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
1240.5,
|
||||
594.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1235.982666015625,
|
||||
574.2188720703125
|
||||
],
|
||||
"reprojection_error_px": 21.022214925920235,
|
||||
"confidence": 0.21364841201201337
|
||||
},
|
||||
{
|
||||
"marker_id": 97,
|
||||
"observed_center_px": [
|
||||
491.5,
|
||||
605.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
478.2646179199219,
|
||||
610.6361694335938
|
||||
],
|
||||
"reprojection_error_px": 14.289372273582657,
|
||||
"confidence": 0.5705029634947052
|
||||
},
|
||||
{
|
||||
"marker_id": 72,
|
||||
"observed_center_px": [
|
||||
1197.75,
|
||||
548.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1198.48974609375,
|
||||
534.4537353515625
|
||||
],
|
||||
"reprojection_error_px": 14.065730512744919,
|
||||
"confidence": 0.5440516905787338
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
598.75,
|
||||
542.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
598.1221313476562,
|
||||
544.5460815429688
|
||||
],
|
||||
"reprojection_error_px": 1.902663384203565,
|
||||
"confidence": 0.5461315019106076
|
||||
},
|
||||
{
|
||||
"marker_id": 96,
|
||||
"observed_center_px": [
|
||||
723.0,
|
||||
614.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
735.0128173828125,
|
||||
610.1817626953125
|
||||
],
|
||||
"reprojection_error_px": 12.765381110346723,
|
||||
"confidence": 0.5763709732716893
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"observed_center_px": [
|
||||
1254.25,
|
||||
485.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1249.8275146484375,
|
||||
476.7846374511719
|
||||
],
|
||||
"reprojection_error_px": 9.330088879183982,
|
||||
"confidence": 0.06519221426443914
|
||||
},
|
||||
{
|
||||
"marker_id": 79,
|
||||
"observed_center_px": [
|
||||
731.5,
|
||||
535.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
742.62255859375,
|
||||
534.1879272460938
|
||||
],
|
||||
"reprojection_error_px": 11.231713180094042,
|
||||
"confidence": 0.5460974493377216
|
||||
},
|
||||
{
|
||||
"marker_id": 66,
|
||||
"observed_center_px": [
|
||||
453.0,
|
||||
495.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
428.0283203125,
|
||||
500.76373291015625
|
||||
],
|
||||
"reprojection_error_px": 25.470027563971815,
|
||||
"confidence": 0.5349107016469481
|
||||
},
|
||||
{
|
||||
"marker_id": 95,
|
||||
"observed_center_px": [
|
||||
548.75,
|
||||
435.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
537.2727661132812,
|
||||
436.9281311035156
|
||||
],
|
||||
"reprojection_error_px": 11.63806630170105,
|
||||
"confidence": 0.5227826547122322
|
||||
},
|
||||
{
|
||||
"marker_id": 103,
|
||||
"observed_center_px": [
|
||||
618.0,
|
||||
313.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
612.1203002929688,
|
||||
313.2383117675781
|
||||
],
|
||||
"reprojection_error_px": 5.88552031479388,
|
||||
"confidence": 0.5046333482067283
|
||||
},
|
||||
{
|
||||
"marker_id": 52,
|
||||
"observed_center_px": [
|
||||
1054.75,
|
||||
161.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1067.6309814453125,
|
||||
173.99093627929688
|
||||
],
|
||||
"reprojection_error_px": 18.29437368174261,
|
||||
"confidence": 0.4723088830007061
|
||||
},
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
1247.5,
|
||||
251.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1247.70263671875,
|
||||
265.3039855957031
|
||||
],
|
||||
"reprojection_error_px": 14.055446373702141,
|
||||
"confidence": 0.13607001327160623
|
||||
},
|
||||
{
|
||||
"marker_id": 210,
|
||||
"observed_center_px": [
|
||||
775.0,
|
||||
150.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
793.588623046875,
|
||||
156.1845245361328
|
||||
],
|
||||
"reprojection_error_px": 19.438382802607535,
|
||||
"confidence": 0.46988879526830113
|
||||
},
|
||||
{
|
||||
"marker_id": 58,
|
||||
"observed_center_px": [
|
||||
562.75,
|
||||
264.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
547.3587036132812,
|
||||
261.0544128417969
|
||||
],
|
||||
"reprojection_error_px": 15.71953503604653,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 69,
|
||||
"observed_center_px": [
|
||||
476.25,
|
||||
240.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
444.06695556640625,
|
||||
234.21192932128906
|
||||
],
|
||||
"reprojection_error_px": 32.8404433163514,
|
||||
"confidence": 0.4655541127751829
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
1207.5,
|
||||
261.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1210.841552734375,
|
||||
273.69903564453125
|
||||
],
|
||||
"reprojection_error_px": 12.6484167125041,
|
||||
"confidence": 0.49001748422717006
|
||||
},
|
||||
{
|
||||
"marker_id": 101,
|
||||
"observed_center_px": [
|
||||
1162.25,
|
||||
153.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
1170.449462890625,
|
||||
171.389404296875
|
||||
],
|
||||
"reprojection_error_px": 19.678972986205,
|
||||
"confidence": 0.46225891142368675
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
570.5,
|
||||
177.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
553.1890258789062,
|
||||
170.61465454101562
|
||||
],
|
||||
"reprojection_error_px": 18.723861242815982,
|
||||
"confidence": 0.43211414091114625
|
||||
},
|
||||
{
|
||||
"marker_id": 81,
|
||||
"observed_center_px": [
|
||||
1027.5,
|
||||
214.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1041.18798828125,
|
||||
224.353515625
|
||||
],
|
||||
"reprojection_error_px": 17.1626428321735,
|
||||
"confidence": 0.4468602604238168
|
||||
},
|
||||
{
|
||||
"marker_id": 83,
|
||||
"observed_center_px": [
|
||||
1173.0,
|
||||
64.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1181.1949462890625,
|
||||
86.80318450927734
|
||||
],
|
||||
"reprojection_error_px": 24.23102078833588,
|
||||
"confidence": 0.4377857805109236
|
||||
},
|
||||
{
|
||||
"marker_id": 75,
|
||||
"observed_center_px": [
|
||||
987.75,
|
||||
42.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1002.008056640625,
|
||||
54.512149810791016
|
||||
],
|
||||
"reprojection_error_px": 18.969609169799686,
|
||||
"confidence": 0.22473325223116958
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
},
|
||||
"v8_z_correction_mm": 54.81633454946478
|
||||
}
|
||||
Reference in New Issue
Block a user