Claude: Docker Phase 1

This commit is contained in:
chk
2026-06-02 17:16:24 +02:00
parent 5ad956be81
commit 6179510d48
376 changed files with 137515 additions and 171806 deletions

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T05:24:02Z",
"created_utc": "2026-06-02T10:17:24Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
"camera_id": "f",
"camera_matrix": [
[
2000.0,
1992.8416748046875,
0.0,
720.0
719.249267578125
],
[
0.0,
2000.0,
540.0
1997.40380859375,
537.7935791015625
],
[
0.0,
@@ -25,8 +25,8 @@
]
],
"distortion_coefficients": [
0.0,
0.0,
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
@@ -36,32 +36,35 @@
"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,
"num_used_markers": 29,
"used_marker_ids": [
68,
46,
53,
56,
97,
215,
54,
56,
47,
55,
53,
215,
62,
97,
72,
55,
66,
96,
95,
51,
103,
82,
73,
58,
69,
210,
58,
74,
64,
101,
52,
83,
77,
83,
75,
61
],
@@ -73,10 +76,10 @@
3
],
"rms": [
0.008416632156341888,
0.0014563332850688533,
0.0013700095280301426,
0.0013700078453338556
0.010021732742651996,
0.0015186919547159295,
0.0013407192288427652,
0.0013407135220185832
],
"lambda": [
0.001,
@@ -85,135 +88,135 @@
0.000125
]
},
"residual_rms_px": 3.874965136212424,
"residual_median_px": 3.5227997775150444,
"residual_max_px": 5.852012771734456,
"sigma2_normalized": 2.121737343320966e-06
"residual_rms_px": 3.7920967153823275,
"residual_median_px": 3.4861914706762445,
"residual_max_px": 6.361059561554256,
"sigma2_normalized": 2.0049180650741152e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3160955309867859,
0.9487238526344299,
0.0025797339621931314
0.31643280386924744,
0.9486125111579895,
0.0021496054250746965
],
[
0.9179052114486694,
-0.30513763427734375,
-0.2536553144454956
0.9175298810005188,
-0.3054875135421753,
-0.2545904815196991
],
[
-0.23986166715621948,
0.08254725486040115,
-0.9672912359237671
-0.240851029753685,
0.0825331062078476,
-0.9670465588569641
]
],
"translation_m": [
0.1259421855211258,
-0.2002721130847931,
1.4973636865615845
0.1264871060848236,
-0.1986197531223297,
1.4965101480484009
],
"rvec_rad": [
2.3718102217212973,
1.7103527942113022,
-0.21741642475062148
2.3716314295414436,
1.7094856896801482,
-0.21866320091909996
]
},
"camera_in_world": {
"position_m": [
0.5031812191009521,
-0.30419817566871643,
1.3972618579864502
0.5026509165763855,
-0.3041747212409973,
1.3963563442230225
],
"position_mm": [
503.18121337890625,
-304.19818115234375,
1397.2618408203125
502.6509094238281,
-304.1747131347656,
1396.3563232421875
],
"orientation_deg": {
"roll": 175.1222686767578,
"pitch": 13.878375053405762,
"yaw": 70.99801635742188
"roll": 175.1218719482422,
"pitch": 13.936773300170898,
"yaw": 70.97197723388672
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.1852406112065966e-05,
1.9154435746919504e-05,
-6.700836600353422e-06,
-4.4237574567895556e-07,
2.186715816472518e-07,
2.708892861310153e-06
2.823759325182141e-05,
1.6926348872795924e-05,
-4.723386025649866e-06,
-3.178491648871055e-07,
2.8262103383091514e-07,
2.7835377079357425e-06
],
[
1.9154435746919436e-05,
1.7468854564826478e-05,
-1.0730851362144012e-05,
3.894759950513676e-07,
3.4742005599867713e-08,
2.9816302231205955e-06
1.6926348872795782e-05,
1.524865120175307e-05,
-7.21326179575758e-06,
3.83689179943569e-07,
6.103127178659327e-08,
2.647496335351544e-06
],
[
-6.700836600349839e-06,
-1.0730851362140909e-05,
0.00018216669310099345,
1.5680581098036084e-06,
-1.8029038769530656e-06,
-3.208921592765715e-05
-4.72338602564983e-06,
-7.213261795757735e-06,
0.00015758610005416618,
1.3022467037353742e-06,
-1.746293781822353e-06,
-2.790181912776282e-05
],
[
-4.4237574567890595e-07,
3.89475995051409e-07,
1.5680581098035165e-06,
3.423267966842042e-07,
-2.7126410073583545e-08,
2.237739787962633e-07
-3.1784916488711856e-07,
3.836891799435489e-07,
1.3022467037354024e-06,
2.9455523405407e-07,
-2.745749953095006e-08,
2.3026786631624608e-07
],
[
2.1867158164721044e-07,
3.4742005599833025e-08,
-1.8029038769530764e-06,
-2.712641007358468e-08,
2.0016294054453288e-07,
4.050286942907722e-07
2.826210338309412e-07,
6.103127178657162e-08,
-1.7462937818223704e-06,
-2.7457499530954406e-08,
1.7586525681894589e-07,
3.837187197340201e-07
],
[
2.7088928613095747e-06,
2.9816302231200902e-06,
-3.208921592765738e-05,
2.237739787962445e-07,
4.050286942907732e-07,
9.793703306119337e-06
2.7835377079357e-06,
2.647496335351557e-06,
-2.7901819127762726e-05,
2.3026786631625187e-07,
3.837187197340069e-07,
8.643017386677037e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.3233655532796328,
0.2394720582716155,
0.7733162204897694
0.30446436644725455,
0.22373727672032925,
0.7192528414482648
],
"tvec_std_m": [
0.0005850869992438767,
0.00044739573147777446,
0.0031294893043625083
0.0005427294298764993,
0.0004193629177919119,
0.0029399009144318177
]
},
"camera_center_std_m": [
0.010989660525404944,
0.012445042819574278,
0.004844640964346519
0.011099608245280888,
0.011459294937800114,
0.005079687217062106
],
"camera_center_std_mm": [
10.989660525404943,
12.445042819574278,
4.844640964346519
11.099608245280889,
11.459294937800113,
5.079687217062107
],
"orientation_std_deg": {
"roll": 0.532669618958499,
"pitch": 0.42398468857728244,
"yaw": 0.10265499147381701
"roll": 0.4909426996663119,
"pitch": 0.42558049412138593,
"yaw": 0.09518099317472581
}
}
},
@@ -222,80 +225,28 @@
{
"marker_id": 68,
"observed_center_px": [
1395.25,
942.0
1395.0,
941.75
],
"projected_center_px": [
1390.0498046875,
941.6648559570312
1390.5240478515625,
942.4951171875
],
"reprojection_error_px": 5.210983862734984,
"confidence": 0.29729413038864677
"reprojection_error_px": 4.5375485956858,
"confidence": 0.31028063344682905
},
{
"marker_id": 46,
"observed_center_px": [
1383.75,
882.5
882.75
],
"projected_center_px": [
1388.56787109375,
884.1957397460938
1388.86328125,
884.7987670898438
],
"reprojection_error_px": 5.107584082761038,
"confidence": 0.46634796204782664
},
{
"marker_id": 53,
"observed_center_px": [
1400.25,
805.75
],
"projected_center_px": [
1395.152099609375,
804.2342529296875
],
"reprojection_error_px": 5.3184657161530575,
"confidence": 0.24205987777153554
},
{
"marker_id": 56,
"observed_center_px": [
1341.75,
844.0
],
"projected_center_px": [
1345.5269775390625,
840.302001953125
],
"reprojection_error_px": 5.285900953032883,
"confidence": 0.6720101269988878
},
{
"marker_id": 97,
"observed_center_px": [
554.75,
818.0
],
"projected_center_px": [
552.3075561523438,
815.5173950195312
],
"reprojection_error_px": 3.4826512082036163,
"confidence": 0.7144285455619288
},
{
"marker_id": 215,
"observed_center_px": [
889.0,
620.0
],
"projected_center_px": [
887.28466796875,
619.165283203125
],
"reprojection_error_px": 1.90764674623409,
"confidence": 0.7068260740006296
"reprojection_error_px": 5.508456383600436,
"confidence": 0.47143525482057913
},
{
"marker_id": 54,
@@ -304,12 +255,25 @@
848.75
],
"projected_center_px": [
607.4749145507812,
853.4927368164062
607.9702758789062,
853.6723022460938
],
"reprojection_error_px": 5.6253617203492166,
"reprojection_error_px": 5.534307863748015,
"confidence": 0.7005026944924987
},
{
"marker_id": 56,
"observed_center_px": [
1342.25,
844.0
],
"projected_center_px": [
1345.5501708984375,
840.6995849609375
],
"reprojection_error_px": 4.667319079403475,
"confidence": 0.6329378010641592
},
{
"marker_id": 47,
"observed_center_px": [
@@ -317,24 +281,37 @@
836.5
],
"projected_center_px": [
667.56298828125,
836.3667602539062
667.9239501953125,
836.4869384765625
],
"reprojection_error_px": 2.81614202418645,
"reprojection_error_px": 3.1739770707613446,
"confidence": 0.6877833343649649
},
{
"marker_id": 55,
"marker_id": 53,
"observed_center_px": [
676.0,
745.75
1399.5,
806.0
],
"projected_center_px": [
673.193115234375,
745.2991943359375
1395.2620849609375,
804.5857543945312
],
"reprojection_error_px": 2.8428555774517537,
"confidence": 0.6761108765479277
"reprojection_error_px": 4.467663204730162,
"confidence": 0.24350756922501487
},
{
"marker_id": 215,
"observed_center_px": [
888.75,
620.0
],
"projected_center_px": [
886.9843139648438,
619.1538696289062
],
"reprojection_error_px": 1.9579539779149675,
"confidence": 0.6875210573245337
},
{
"marker_id": 62,
@@ -343,12 +320,25 @@
863.25
],
"projected_center_px": [
844.1627197265625,
867.9298095703125
844.1611938476562,
868.03955078125
],
"reprojection_error_px": 4.941667358375338,
"reprojection_error_px": 5.0461967535855985,
"confidence": 0.6334920995585299
},
{
"marker_id": 97,
"observed_center_px": [
554.75,
818.25
],
"projected_center_px": [
552.9161987304688,
815.6981811523438
],
"reprojection_error_px": 3.1423886658699773,
"confidence": 0.6608886785422622
},
{
"marker_id": 72,
"observed_center_px": [
@@ -356,37 +346,63 @@
753.25
],
"projected_center_px": [
1347.07373046875,
752.1920166015625
1346.901611328125,
752.3621215820312
],
"reprojection_error_px": 1.203534595323897,
"reprojection_error_px": 0.9744843477311561,
"confidence": 0.63555573802114
},
{
"marker_id": 55,
"observed_center_px": [
676.0,
745.5
],
"projected_center_px": [
673.5105590820312,
745.3541870117188
],
"reprojection_error_px": 2.493707583420438,
"confidence": 0.6545304182010626
},
{
"marker_id": 66,
"observed_center_px": [
508.0,
693.0
508.25,
692.75
],
"projected_center_px": [
508.7984619140625,
692.4354248046875
509.5003662109375,
692.5861206054688
],
"reprojection_error_px": 0.9778990639991935,
"confidence": 0.6946666666666667
"reprojection_error_px": 1.2610599182458104,
"confidence": 0.6480920753055313
},
{
"marker_id": 96,
"observed_center_px": [
815.5,
827.75
],
"projected_center_px": [
812.7606811523438,
825.9982299804688
],
"reprojection_error_px": 3.2515482389860497,
"confidence": 0.5116549960773986
},
{
"marker_id": 95,
"observed_center_px": [
612.5,
612.75,
626.0
],
"projected_center_px": [
616.550048828125,
623.8281860351562
616.9766235351562,
623.9188842773438
],
"reprojection_error_px": 4.595614366772631,
"confidence": 0.6412938250103973
"reprojection_error_px": 4.711198272098486,
"confidence": 0.6214553357279435
},
{
"marker_id": 51,
@@ -395,102 +411,128 @@
559.0
],
"projected_center_px": [
741.310791015625,
557.947509765625
741.3570556640625,
558.0090942382812
],
"reprojection_error_px": 2.3139998495106826,
"confidence": 0.6355340780755219
"reprojection_error_px": 2.328428182286342,
"confidence": 0.5970662807065851
},
{
"marker_id": 103,
"observed_center_px": [
690.0,
487.75
488.0
],
"projected_center_px": [
694.6463012695312,
487.349609375
694.7941284179688,
487.4731140136719
],
"reprojection_error_px": 4.66352100240104,
"confidence": 0.5954680843098741
"reprojection_error_px": 4.822994519027003,
"confidence": 0.5891999992118755
},
{
"marker_id": 82,
"observed_center_px": [
1356.75,
429.5
1357.0,
429.25
],
"projected_center_px": [
1358.0069580078125,
429.1807861328125
1357.4981689453125,
428.8148498535156
],
"reprojection_error_px": 1.2968580980233604,
"confidence": 0.6065602887376399
"reprojection_error_px": 0.6614589541756477,
"confidence": 0.5960189620884889
},
{
"marker_id": 73,
"observed_center_px": [
1401.75,
1401.5,
418.5
],
"projected_center_px": [
1403.525390625,
417.8912048339844
1403.162353515625,
417.4544982910156
],
"reprojection_error_px": 1.8768706469818006,
"confidence": 0.20623049817079758
},
{
"marker_id": 58,
"observed_center_px": [
632.75,
428.25
],
"projected_center_px": [
632.6746826171875,
431.7947692871094
],
"reprojection_error_px": 3.5455693487770947,
"confidence": 0.5951948697115713
"reprojection_error_px": 1.963795568382831,
"confidence": 0.22008504273316973
},
{
"marker_id": 69,
"observed_center_px": [
538.5,
403.0
403.25
],
"projected_center_px": [
535.1592407226562,
405.8141784667969
535.7028198242188,
406.03594970703125
],
"reprojection_error_px": 4.3680971820853,
"confidence": 0.5651459847123547
"reprojection_error_px": 3.947876987178189,
"confidence": 0.5353468538324895
},
{
"marker_id": 210,
"observed_center_px": [
872.25,
307.5
307.25
],
"projected_center_px": [
872.0038452148438,
304.0086364746094
871.5974731445312,
304.0945129394531
],
"reprojection_error_px": 3.5000302062529935,
"confidence": 0.5825378815199377
"reprojection_error_px": 3.222249196816828,
"confidence": 0.5583029073465398
},
{
"marker_id": 58,
"observed_center_px": [
633.25,
428.5
],
"projected_center_px": [
632.9736328125,
431.9752197265625
],
"reprojection_error_px": 3.4861914706762445,
"confidence": 0.5706094762037633
},
{
"marker_id": 74,
"observed_center_px": [
1102.75,
342.0
],
"projected_center_px": [
1105.9566650390625,
339.7966003417969
],
"reprojection_error_px": 3.8907159657979857,
"confidence": 0.5696194687762921
},
{
"marker_id": 64,
"observed_center_px": [
640.5,
337.75
338.0
],
"projected_center_px": [
641.4583740234375,
334.579345703125
641.6788330078125,
334.79168701171875
],
"reprojection_error_px": 3.312329910967759,
"confidence": 0.5461129593472626
"reprojection_error_px": 3.4180285971715376,
"confidence": 0.5397522426826521
},
{
"marker_id": 101,
"observed_center_px": [
1307.5,
303.75
],
"projected_center_px": [
1306.6988525390625,
307.3880920410156
],
"reprojection_error_px": 3.725258508220314,
"confidence": 0.5659193956439582
},
{
"marker_id": 52,
@@ -499,37 +541,37 @@
312.5
],
"projected_center_px": [
1186.0,
315.9181213378906
1185.21826171875,
315.6405334472656
],
"reprojection_error_px": 5.852012771734456,
"confidence": 0.5743827506632194
},
{
"marker_id": 83,
"observed_center_px": [
1323.0,
208.5
],
"projected_center_px": [
1319.094970703125,
207.36993408203125
],
"reprojection_error_px": 4.0652555624962385,
"confidence": 0.562745572281817
"reprojection_error_px": 6.361059561554256,
"confidence": 0.5556704791810116
},
{
"marker_id": 77,
"observed_center_px": [
1125.5,
230.25
1125.0,
230.5
],
"projected_center_px": [
1128.239013671875,
233.71730041503906
1127.476806640625,
233.43856811523438
],
"reprojection_error_px": 4.418638711509261,
"confidence": 0.5567076120516155
"reprojection_error_px": 3.8431437265494255,
"confidence": 0.5510542561538847
},
{
"marker_id": 83,
"observed_center_px": [
1323.25,
208.5
],
"projected_center_px": [
1318.564453125,
206.66952514648438
],
"reprojection_error_px": 5.0304063163103745,
"confidence": 0.5445844663450473
},
{
"marker_id": 75,
@@ -538,24 +580,24 @@
182.0
],
"projected_center_px": [
1111.14013671875,
182.54635620117188
1110.407470703125,
182.22398376464844
],
"reprojection_error_px": 2.696076221521005,
"reprojection_error_px": 1.9205762703173932,
"confidence": 0.5155640078275618
},
{
"marker_id": 61,
"observed_center_px": [
1280.25,
1280.0,
135.0
],
"projected_center_px": [
1281.889892578125,
133.5420684814453
1281.353271484375,
132.7445068359375
],
"reprojection_error_px": 2.194267982855475,
"confidence": 0.5393477003090094
"reprojection_error_px": 2.6303218669119532,
"confidence": 0.5493902887184056
}
]
},