Claude studie mit mm

This commit is contained in:
chk
2026-06-02 23:35:45 +02:00
parent da4724cf34
commit 6964f19b28
1204 changed files with 1036015 additions and 30 deletions

View File

@@ -0,0 +1,773 @@
{
"schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": "2026-06-02T21:24:50Z",
"summary": {
"num_cameras": 4,
"num_markers": 16
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.30248901741824863,
-0.7974408418770258,
0.793212239629554
],
"position_mm": [
-302.48901741824864,
-797.4408418770258,
793.212239629554
],
"direction": [
0.4821038544178009,
0.6583291888237,
-0.5780817866325378
]
},
{
"camera_id": "b",
"position_m": [
0.3087709715705254,
-0.8865315577687489,
1.2045728724504903
],
"position_mm": [
308.77097157052543,
-886.5315577687489,
1204.5728724504902
],
"direction": [
0.0027412460185587406,
0.6196938753128052,
-0.7848387956619263
]
},
{
"camera_id": "c",
"position_m": [
0.280082177793039,
-0.9114096774406122,
0.3947187862124093
],
"position_mm": [
280.082177793039,
-911.4096774406122,
394.7187862124093
],
"direction": [
-0.08651693910360336,
0.953553318977356,
-0.2885323166847229
]
},
{
"camera_id": "f",
"position_m": [
0.4596745648416638,
-0.3017623765300801,
1.4128365689465576
],
"position_mm": [
459.6745648416638,
-301.7623765300801,
1412.8365689465577
],
"direction": [
-0.20994123816490173,
0.08133889734745026,
-0.9743247032165527
]
}
],
"markers": [
{
"marker_id": 40,
"link": "FingerA",
"position_m": [
0.2947965148471954,
0.1269442356054086,
0.12745673286420509
],
"position_mm": [
294.7965148471954,
126.94423560540861,
127.45673286420508
],
"normal": [
-0.09209783860349689,
-0.8398674747953756,
0.5349211277425893
],
"corners_m": [
[
0.30192404028920766,
0.11892277032668341,
0.11551401646515615
],
[
0.2799125712101408,
0.12411027370005798,
0.12099171720283873
],
[
0.2880479357305129,
0.13571173130742123,
0.13950668650072162
],
[
0.3093015121589201,
0.12903216708747176,
0.13381451128810387
]
],
"num_cameras": 3,
"edge_length_mm": 22.937011645871475
},
{
"marker_id": 45,
"link": "FingerB",
"position_m": [
0.25256164099098294,
0.14430503987280394,
0.1460078009285306
],
"position_mm": [
252.56164099098294,
144.30503987280395,
146.0078009285306
],
"normal": [
-0.5606976685042961,
-0.33101495664967767,
0.7589777486909998
],
"corners_m": [
[
0.24253453195330654,
0.13777755855857268,
0.1347549583959202
],
[
0.24352760143697993,
0.15600514085620448,
0.14553710307154238
],
[
0.2625161926442913,
0.15262606782535473,
0.15599262158936633
],
[
0.261668237929354,
0.13081139225108382,
0.1477465206572936
]
],
"num_cameras": 2,
"edge_length_mm": 22.657527460241074
},
{
"marker_id": 62,
"link": "Board",
"position_m": [
0.4023778359776115,
-0.1742587276558313,
-0.02519767769914138
],
"position_mm": [
402.3778359776115,
-174.2587276558313,
-25.19767769914138
],
"normal": [
-0.014045010814549954,
0.0367454524792985,
0.9992259551239204
],
"corners_m": [
[
0.3912955284456786,
-0.18630698194708978,
-0.02401599529275809
],
[
0.39065870858734053,
-0.16306739711997587,
-0.026683610786087095
],
[
0.4132649953703324,
-0.16267776768443368,
-0.02451803796669137
],
[
0.4142921115070946,
-0.1849827638718259,
-0.025573066751028953
]
],
"num_cameras": 2,
"edge_length_mm": 22.888690194405314
},
{
"marker_id": 64,
"link": "Board",
"position_m": [
-0.0177918116432121,
-0.19099746161354367,
-0.02363991193454386
],
"position_mm": [
-17.7918116432121,
-190.99746161354366,
-23.639911934543857
],
"normal": [
0.03638985265424713,
-0.0688264284635225,
0.996964744295784
],
"corners_m": [
[
-0.030117889671928712,
-0.2016500527046609,
-0.024374071413649914
],
[
-0.028336790109598217,
-0.17998121987723215,
-0.022023104229733612
],
[
-0.006059461709098251,
-0.18011163025404173,
-0.023781295035577334
],
[
-0.006653105082223224,
-0.20224694361823994,
-0.024381177059214578
]
],
"num_cameras": 2,
"edge_length_mm": 22.45985017979893
},
{
"marker_id": 96,
"link": "Board",
"position_m": [
0.3718196845059484,
-0.18437755250919574,
-0.027297445815487122
],
"position_mm": [
371.8196845059484,
-184.37755250919574,
-27.297445815487123
],
"normal": [
0.004432269941468326,
-0.004504100881307316,
0.9999800338298845
],
"corners_m": [
[
0.3598310992913652,
-0.1951119405942541,
-0.02736628681362876
],
[
0.36072009757038687,
-0.17275214469497752,
-0.027120538903234487
],
[
0.38353726028204727,
-0.17389363301714547,
-0.027379288969890888
],
[
0.3831902808799943,
-0.19575249173040588,
-0.027323668575194342
]
],
"num_cameras": 3,
"edge_length_mm": 22.613914664092256
},
{
"marker_id": 102,
"link": "Board",
"position_m": [
0.6527765053345117,
-0.22249645074713822,
-0.02891138310095976
],
"position_mm": [
652.7765053345117,
-222.49645074713823,
-28.91138310095976
],
"normal": [
-0.030369471646710278,
-0.052239285128800717,
0.9981727066400541
],
"corners_m": [
[
0.6415893138674812,
-0.23281563262450392,
-0.03024624031681254
],
[
0.6417090441077479,
-0.21080903511525673,
-0.028191856983002833
],
[
0.6642408030546147,
-0.2119168923988543,
-0.028444339869375987
],
[
0.663566860308203,
-0.23444424284993795,
-0.02876309523464768
]
],
"num_cameras": 2,
"edge_length_mm": 22.322584481907565
},
{
"marker_id": 198,
"link": "Arm1",
"position_m": [
0.15732001106620808,
-0.0512439229267984,
0.11002903423203265
],
"position_mm": [
157.32001106620808,
-51.2439229267984,
110.02903423203266
],
"normal": [
-0.000876925252163246,
0.09470916198582618,
0.9955045985017069
],
"corners_m": [
[
0.14677266803190098,
-0.03929246093520055,
0.10891911121832185
],
[
0.1695134570384917,
-0.040443097158837385,
0.10897657722410971
],
[
0.1681327703168493,
-0.06344593374798542,
0.1112341865351895
],
[
0.14486114887759038,
-0.06179419986517025,
0.11098626195050953
]
],
"num_cameras": 2,
"edge_length_mm": 22.983297683125848
},
{
"marker_id": 206,
"link": "Board",
"position_m": [
0.6509801882048853,
-0.009515020007734104,
8.603252990177444e-06
],
"position_mm": [
650.9801882048854,
-9.515020007734105,
0.008603252990177444
],
"normal": [
-0.022121107079831625,
-0.022119407777555836,
0.999510574441878
],
"corners_m": [
[
0.639337511608835,
0.0026898967062923334,
-0.00018883914391411752
],
[
0.6618285562291454,
0.0014349000776885266,
0.0007138602096976982
],
[
0.6627174959978864,
-0.02101555037174876,
-0.00020689527280191267
],
[
0.6400371889836747,
-0.021169326443168515,
-0.00028371278102095823
]
],
"num_cameras": 2,
"edge_length_mm": 22.89540999062872
},
{
"marker_id": 208,
"link": "Board",
"position_m": [
0.3514569030300778,
-0.08992059509537816,
0.0002822671203728697
],
"position_mm": [
351.4569030300778,
-89.92059509537816,
0.2822671203728697
],
"normal": [
-0.02870647233878843,
-0.014614854344457641,
0.9994810375781787
],
"corners_m": [
[
0.3403260328121827,
-0.07742674894563135,
0.00021914583997801088
],
[
0.36367091705390864,
-0.07917756798123965,
0.0007173101495176762
],
[
0.36317771605796023,
-0.10263369694004318,
0.0005022587802208064
],
[
0.3386529461962597,
-0.1004443665145985,
-0.00030964628822501456
]
],
"num_cameras": 2,
"edge_length_mm": 23.649531264845645
},
{
"marker_id": 210,
"link": "Board",
"position_m": [
0.020940841669460628,
-0.021823908602352407,
0.001629479306360025
],
"position_mm": [
20.940841669460628,
-21.823908602352407,
1.629479306360025
],
"normal": [
-0.002763912259409622,
-0.0005607205282977951,
0.9999960231828482
],
"corners_m": [
[
0.008926964349356291,
-0.01047878701706689,
0.001680105856149268
],
[
0.032355299213618245,
-0.010250482281112106,
0.0015921246063774464
],
[
0.033333667679698344,
-0.033486863886971585,
0.00173023915536373
],
[
0.00914743543516963,
-0.03307950122425905,
0.0015154476075496565
]
],
"num_cameras": 3,
"edge_length_mm": 23.369999397266138
},
{
"marker_id": 214,
"link": "Board",
"position_m": [
0.34880752928110664,
-0.012291734016502433,
0.0013911194351159868
],
"position_mm": [
348.80752928110667,
-12.291734016502433,
1.3911194351159868
],
"normal": [
-0.001968671978230616,
-0.017095996246706605,
0.999851914656853
],
"corners_m": [
[
0.33684432136333337,
-0.0014992610505926368,
0.0017688740233304577
],
[
0.36069577768907307,
-0.0005348254238716956,
0.001404335563717432
],
[
0.3605567779384406,
-0.02338770838645709,
0.001439657216231887
],
[
0.33713324013357954,
-0.023745141205088312,
0.000951610937184171
]
],
"num_cameras": 2,
"edge_length_mm": 23.10529332895383
},
{
"marker_id": 217,
"link": "Board",
"position_m": [
0.64745038732486,
-0.08855003933157903,
-0.0006466814420218927
],
"position_mm": [
647.45038732486,
-88.55003933157903,
-0.6466814420218927
],
"normal": [
-0.050092439854111145,
-0.06615376332196428,
0.9965512666530528
],
"corners_m": [
[
0.6360386094002255,
-0.07640594027845912,
-0.0006712693974451412
],
[
0.6584552807460033,
-0.07874736689994216,
0.000822322487636337
],
[
0.6592955739041145,
-0.10035505167761255,
-0.0010907326058803661
],
[
0.6360120852490967,
-0.09869179847030222,
-0.0016470462523984007
]
],
"num_cameras": 2,
"edge_length_mm": 22.48830129838642
},
{
"marker_id": 229,
"link": "Arm1",
"position_m": [
0.15837330736609706,
-0.13437787624746056,
0.10978790431072852
],
"position_mm": [
158.37330736609707,
-134.37787624746056,
109.78790431072852
],
"normal": [
0.02094242317103268,
0.010005349291332899,
0.9997306176652208
],
"corners_m": [
[
0.1462120128943936,
-0.12428519399702807,
0.11035084893374016
],
[
0.16959896632773122,
-0.12308817342313173,
0.10905881706929639
],
[
0.17084737973688305,
-0.14523094579596443,
0.11000750022661382
],
[
0.1468348705053804,
-0.14490719177371802,
0.1097344510132637
]
],
"num_cameras": 2,
"edge_length_mm": 22.577063316888594
},
{
"marker_id": 232,
"link": "Ellbow",
"position_m": [
0.2467678942450643,
-0.16359307950093002,
0.10136481886614496
],
"position_mm": [
246.7678942450643,
-163.59307950093003,
101.36481886614496
],
"normal": [
-0.024898871466739123,
-0.7384350495675133,
0.6738647666779344
],
"corners_m": [
[
0.2353669985557582,
-0.15489704901034734,
0.11052818310458239
],
[
0.25895082679336373,
-0.15633939983429804,
0.1097083902850737
],
[
0.25781524575723935,
-0.17232481978028186,
0.09226160206892106
],
[
0.23493850587389592,
-0.1708110493787928,
0.09296110000600266
]
],
"num_cameras": 2,
"edge_length_mm": 23.49422702367577
},
{
"marker_id": 243,
"link": "Arm1",
"position_m": [
0.158930594705286,
-0.1760072440021506,
0.07585543693055177
],
"position_mm": [
158.930594705286,
-176.0072440021506,
75.85543693055178
],
"normal": [
0.00345972299965566,
-0.9988194157810198,
0.0484541533372308
],
"corners_m": [
[
0.1473244610941627,
-0.17526454072511188,
0.08800055505268901
],
[
0.17096499824826214,
-0.1755800512762581,
0.08771575176654943
],
[
0.17037539355088147,
-0.1763767831509825,
0.06345432833633684
],
[
0.14705752592783775,
-0.17680760085624994,
0.06425111256663178
]
],
"num_cameras": 3,
"edge_length_mm": 23.765622057298597
},
{
"marker_id": 245,
"link": "Ellbow",
"position_m": [
0.2477864177774614,
-0.1429456235337121,
0.11433467433051907
],
"position_mm": [
247.78641777746142,
-142.9456235337121,
114.33467433051906
],
"normal": [
0.007321014018245776,
0.0035858360623804986,
0.9999667717146797
],
"corners_m": [
[
0.2598304398923707,
-0.1317334739463292,
0.11422857000825548
],
[
0.2600156164852468,
-0.15435007591787117,
0.11426411466578042
],
[
0.235541672583668,
-0.15470782622429569,
0.11448739407164948
],
[
0.23575794214856022,
-0.13099111804635227,
0.11435861857639092
]
],
"num_cameras": 4,
"edge_length_mm": 23.72432532481244
}
]
}

View File

@@ -0,0 +1,390 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T21:24:49Z",
"summary": {
"num_cameras": 4,
"num_markers": 16,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.30248901741824863,
-0.7974408418770258,
0.793212239629554
],
"position_mm": [
-302.48901741824864,
-797.4408418770258,
793.212239629554
],
"direction": [
0.4821038544178009,
0.6583291888237,
-0.5780817866325378
]
},
{
"camera_id": "b",
"position_m": [
0.3087709715705254,
-0.8865315577687489,
1.2045728724504903
],
"position_mm": [
308.77097157052543,
-886.5315577687489,
1204.5728724504902
],
"direction": [
0.0027412460185587406,
0.6196938753128052,
-0.7848387956619263
]
},
{
"camera_id": "c",
"position_m": [
0.280082177793039,
-0.9114096774406122,
0.3947187862124093
],
"position_mm": [
280.082177793039,
-911.4096774406122,
394.7187862124093
],
"direction": [
-0.08651693910360336,
0.953553318977356,
-0.2885323166847229
]
},
{
"camera_id": "f",
"position_m": [
0.4596745648416638,
-0.3017623765300801,
1.4128365689465576
],
"position_mm": [
459.6745648416638,
-301.7623765300801,
1412.8365689465577
],
"direction": [
-0.20994123816490173,
0.08133889734745026,
-0.9743247032165527
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.29550726240838204,
0.12390733559344917,
0.13001980677839234
],
"position_mm": [
295.507262408382,
123.90733559344918,
130.01980677839234
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 45,
"position_m": [
0.2525992787160565,
0.14433938123946,
0.14595677697627216
],
"position_mm": [
252.59927871605646,
144.33938123946,
145.95677697627215
],
"link": "FingerB",
"normal": [
-0.8830215713766957,
-0.3090575499818435,
-0.3532086285506783
]
},
{
"marker_id": 62,
"position_m": [
0.4023910773096623,
-0.17425868340987016,
-0.025302848948323083
],
"position_mm": [
402.3910773096623,
-174.25868340987017,
-25.30284894832308
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01782011633534265,
-0.19098928141120736,
-0.023750078812762917
],
"position_mm": [
-17.82011633534265,
-190.98928141120734,
-23.75007881276292
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37126412906809786,
-0.1846657015544151,
-0.02720626925321373
],
"position_mm": [
371.2641290680979,
-184.6657015544151,
-27.20626925321373
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.652796732243114,
-0.22251948472608726,
-0.02896636782078308
],
"position_mm": [
652.796732243114,
-222.51948472608726,
-28.96636782078308
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.1573218680546512,
-0.05123541656405674,
0.1099463480734281
],
"position_mm": [
157.3218680546512,
-51.235416564056735,
109.9463480734281
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6509996477009308,
-0.009529590102801655,
-4.017954994565837e-05
],
"position_mm": [
650.9996477009307,
-9.529590102801656,
-0.04017954994565837
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35148475973069815,
-0.08991823748696537,
0.00020994837596580496
],
"position_mm": [
351.48475973069816,
-89.91823748696537,
0.20994837596580496
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.020865926039972168,
-0.021952608099679187,
0.001252409577336729
],
"position_mm": [
20.86592603997217,
-21.952608099679185,
1.2524095773367292
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3488168894281858,
-0.012309084579251521,
0.0013417614562840356
],
"position_mm": [
348.8168894281858,
-12.309084579251522,
1.3417614562840356
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6474755604429359,
-0.08855760715888263,
-0.0007030556730906433
],
"position_mm": [
647.4755604429358,
-88.55760715888263,
-0.7030556730906433
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1583605984473698,
-0.13437456093508704,
0.10970961996645026
],
"position_mm": [
158.3605984473698,
-134.37456093508703,
109.70961996645026
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.24677059979397156,
-0.16349136132296838,
0.10124612211261637
],
"position_mm": [
246.77059979397157,
-163.49136132296837,
101.24612211261636
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.1582907954624006,
-0.17428502665134663,
0.07432859532256175
],
"position_mm": [
158.2907954624006,
-174.2850266513466,
74.32859532256175
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2456003839471981,
-0.14344831665855637,
0.11347187551725858
],
"position_mm": [
245.6003839471981,
-143.44831665855637,
113.47187551725858
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}

View File

@@ -0,0 +1,389 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-02T21:24:50Z",
"summary": {
"num_cameras": 4,
"num_markers": 16,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.30248901741824863,
-0.7974408418770258,
0.793212239629554
],
"position_mm": [
-302.48901741824864,
-797.4408418770258,
793.212239629554
],
"direction": [
0.4821038544178009,
0.6583291888237,
-0.5780817866325378
]
},
{
"camera_id": "b",
"position_m": [
0.3087709715705254,
-0.8865315577687489,
1.2045728724504903
],
"position_mm": [
308.77097157052543,
-886.5315577687489,
1204.5728724504902
],
"direction": [
0.0027412460185587406,
0.6196938753128052,
-0.7848387956619263
]
},
{
"camera_id": "c",
"position_m": [
0.280082177793039,
-0.9114096774406122,
0.3947187862124093
],
"position_mm": [
280.082177793039,
-911.4096774406122,
394.7187862124093
],
"direction": [
-0.08651693910360336,
0.953553318977356,
-0.2885323166847229
]
},
{
"camera_id": "f",
"position_m": [
0.4596745648416638,
-0.3017623765300801,
1.4128365689465576
],
"position_mm": [
459.6745648416638,
-301.7623765300801,
1412.8365689465577
],
"direction": [
-0.20994123816490173,
0.08133889734745026,
-0.9743247032165527
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.29501912228329485,
0.12668250666905445,
0.1283206877767054
],
"position_mm": [
295.01912228329485,
126.68250666905445,
128.3206877767054
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 45,
"position_m": [
0.25258263449480245,
0.14437202222522774,
0.14598630396709575
],
"position_mm": [
252.58263449480245,
144.37202222522774,
145.98630396709575
],
"link": "FingerB",
"normal": [
-0.8830215713766957,
-0.3090575499818435,
-0.3532086285506783
]
},
{
"marker_id": 62,
"position_m": [
0.4035678171877388,
-0.17145907949703834,
-0.03270124447100042
],
"position_mm": [
403.5678171877388,
-171.45907949703835,
-32.701244471000415
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01782643637204893,
-0.19090368690420037,
-0.023852065371859174
],
"position_mm": [
-17.82643637204893,
-190.90368690420038,
-23.852065371859172
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3704762707966328,
-0.1855448868927115,
-0.02519298628253633
],
"position_mm": [
370.47627079663283,
-185.5448868927115,
-25.19298628253633
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6527954936628235,
-0.22250641612582575,
-0.02896187454163323
],
"position_mm": [
652.7954936628236,
-222.50641612582575,
-28.96187454163323
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.15788413866073822,
-0.04952178354736156,
0.10834409876763627
],
"position_mm": [
157.88413866073822,
-49.52178354736156,
108.34409876763627
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6513256516338264,
-0.00903688701070149,
-0.0005168233316782825
],
"position_mm": [
651.3256516338264,
-9.03688701070149,
-0.5168233316782825
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35152854419121915,
-0.0904365625929681,
0.00048149066829211067
],
"position_mm": [
351.52854419121917,
-90.4365625929681,
0.4814906682921107
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.020961190604730017,
-0.021720680175227575,
0.001425129113506341
],
"position_mm": [
20.961190604730017,
-21.720680175227574,
1.425129113506341
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3489510180379781,
-0.010478340111701021,
0.0002866170029735501
],
"position_mm": [
348.95101803797814,
-10.478340111701021,
0.2866170029735501
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6471972128874973,
-0.08892998167058085,
-0.00029532357368871064
],
"position_mm": [
647.1972128874974,
-88.92998167058084,
-0.29532357368871065
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.15745131030785744,
-0.13950747760058804,
0.10988744079252674
],
"position_mm": [
157.45131030785745,
-139.50747760058803,
109.88744079252675
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.24470533595451532,
-0.166685801557457,
0.10257445434239133
],
"position_mm": [
244.70533595451533,
-166.68580155745698,
102.57445434239133
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.15669328054295495,
-0.17559332603664324,
0.0760163351138204
],
"position_mm": [
156.69328054295494,
-175.59332603664325,
76.0163351138204
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.24734709434299118,
-0.14253947892115232,
0.11387044443926639
],
"position_mm": [
247.34709434299117,
-142.53947892115232,
113.8704444392664
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,327 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:48Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "a",
"camera_matrix": [
[
1768.8695068359375,
0.0,
639.249267578125
],
[
0.0,
1774.5469970703125,
357.7935485839844
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 9,
"used_marker_ids": [
47,
210,
85,
96,
75,
102,
92,
217,
206
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.010980819919799259,
0.0011531896217766104,
0.0009887416871182516,
0.0009887321064848743
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 2.4841199297798613,
"residual_median_px": 2.4582316730892884,
"residual_max_px": 4.141706938123753,
"sigma2_normalized": 1.4663867660167864e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8069714903831482,
-0.590590238571167,
0.00041733618127182126
],
[
-0.3411347270011902,
-0.46669670939445496,
-0.8159787058830261
],
[
0.4821038544178009,
0.6583291888237,
-0.5780817866325378
]
],
"translation_m": [
-0.22719182074069977,
0.17189177870750427,
1.129351258277893
],
"rvec_rad": [
2.1004770444031364,
-0.6862687731842654,
0.35540446327797953
]
},
"camera_in_world": {
"position_m": [
-0.3024890124797821,
-0.7974408864974976,
0.7932122945785522
],
"position_mm": [
-302.489013671875,
-797.4408569335938,
793.2122802734375
],
"orientation_deg": {
"roll": 131.2864990234375,
"pitch": -28.822898864746094,
"yaw": -22.91545867919922
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.426407873456523e-05,
-7.895506409561845e-06,
3.1511426506745407e-06,
1.3330395330227032e-06,
1.6228201831963088e-06,
2.7888594415357304e-06
],
[
-7.89550640956188e-06,
8.966513264733893e-06,
-8.186962788898083e-06,
-1.805608492609952e-06,
-1.2051151610832277e-06,
2.722207074789832e-06
],
[
3.1511426506748325e-06,
-8.186962788898244e-06,
3.128801691563921e-05,
3.840520356479328e-06,
-2.958944449333019e-06,
-1.1431175024526813e-05
],
[
1.333039533022735e-06,
-1.805608492609968e-06,
3.84052035647932e-06,
9.068706330009748e-07,
-6.711836153564835e-08,
-6.905114786085991e-07
],
[
1.6228201831962743e-06,
-1.205115161083196e-06,
-2.958944449333087e-06,
-6.71183615356621e-08,
1.156400472899055e-06,
1.6340366338675525e-06
],
[
2.7888594415356232e-06,
2.722207074789906e-06,
-1.143117502452688e-05,
-6.905114786086415e-07,
1.63403663386755e-06,
9.77890641732964e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.3353838625323722,
0.1715672657674912,
0.3204879102398954
],
"tvec_std_m": [
0.0009522975548645364,
0.0010753606245809148,
0.0031271243047454383
]
},
"camera_center_std_m": [
0.004830624949966364,
0.006452977477907209,
0.005820102892816153
],
"camera_center_std_mm": [
4.830624949966364,
6.452977477907209,
5.820102892816153
],
"orientation_std_deg": {
"roll": 0.5165332116627502,
"pitch": 0.2611451472117435,
"yaw": 0.17575981735146345
}
}
},
"observations": {
"markers": [
{
"marker_id": 47,
"observed_center_px": [
985.0,
693.5
],
"projected_center_px": [
986.1359252929688,
691.0036010742188
],
"reprojection_error_px": 2.742687344165922,
"confidence": 0.07950295894946531
},
{
"marker_id": 210,
"observed_center_px": [
328.0,
631.5
],
"projected_center_px": [
325.8231506347656,
632.6420288085938
],
"reprojection_error_px": 2.4582316730892884,
"confidence": 0.45856909790460193
},
{
"marker_id": 85,
"observed_center_px": [
1187.0,
610.75
],
"projected_center_px": [
1185.957763671875,
610.4509887695312
],
"reprojection_error_px": 1.0842805354749843,
"confidence": 0.4539195577436192
},
{
"marker_id": 96,
"observed_center_px": [
904.75,
584.25
],
"projected_center_px": [
906.6068115234375,
587.1532592773438
],
"reprojection_error_px": 3.446253540448358,
"confidence": 0.47818895251106325
},
{
"marker_id": 75,
"observed_center_px": [
128.5,
516.75
],
"projected_center_px": [
129.30142211914062,
515.8756713867188
],
"reprojection_error_px": 1.186055621398155,
"confidence": 0.25798445457040825
},
{
"marker_id": 102,
"observed_center_px": [
1220.25,
461.25
],
"projected_center_px": [
1218.746826171875,
461.6639709472656
],
"reprojection_error_px": 1.5591354985183186,
"confidence": 0.23928367610236692
},
{
"marker_id": 92,
"observed_center_px": [
1176.5,
438.5
],
"projected_center_px": [
1173.768310546875,
438.2154235839844
],
"reprojection_error_px": 2.746472465703354,
"confidence": 0.28706086767352934
},
{
"marker_id": 217,
"observed_center_px": [
1084.0,
348.5
],
"projected_center_px": [
1087.994384765625,
347.4051818847656
],
"reprojection_error_px": 4.141706938123753,
"confidence": 0.333368702898709
},
{
"marker_id": 206,
"observed_center_px": [
1013.25,
301.0
],
"projected_center_px": [
1013.131103515625,
301.6094970703125
],
"reprojection_error_px": 0.6209855495228976,
"confidence": 0.26319796391165523
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,397 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:49Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\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": [
[
1770.3477783203125,
0.0,
639.934814453125
],
[
0.0,
1767.43359375,
359.20611572265625
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 14,
"used_marker_ids": [
102,
63,
58,
103,
64,
96,
62,
217,
207,
206,
214,
76,
50,
86
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.011504594611705094,
0.0015785469921080425,
0.0012415320749792752,
0.00124150263986301
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.1152851358184637,
"residual_median_px": 3.227059000988983,
"residual_max_px": 4.4931617381125735,
"sigma2_normalized": 1.9616912039845574e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999353289604187,
-0.010362480767071247,
-0.004689494613558054
],
[
-0.011038928292691708,
-0.7847751975059509,
-0.6196821928024292
],
[
0.0027412460185587406,
0.6196938753128052,
-0.7848387956619263
]
],
"translation_m": [
-0.3122888207435608,
0.05413290858268738,
1.4939273595809937
],
"rvec_rad": [
2.4731883635352303,
-0.014828122865521536,
-0.001349858249896341
]
},
"camera_in_world": {
"position_m": [
0.30877095460891724,
-0.8865315318107605,
1.2045729160308838
],
"position_mm": [
308.7709655761719,
-886.5315551757812,
1204.5728759765625
],
"orientation_deg": {
"roll": 141.70603942871094,
"pitch": -0.15706202387809753,
"yaw": -0.6324991583824158
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.5831610423726455e-05,
6.016058665785663e-07,
1.1474848188706113e-05,
5.801708523296007e-07,
-2.0010387134510003e-06,
-1.3744467574182844e-06
],
[
6.016058665786002e-07,
6.736674204486343e-06,
-9.980944931765587e-06,
1.2109689053929205e-07,
-9.352231837146544e-07,
4.681472653623283e-06
],
[
1.1474848188705854e-05,
-9.980944931765539e-06,
0.00011289073318704862,
2.052874550765019e-06,
-1.0822207325500362e-05,
-4.3923029712169e-05
],
[
5.801708523295885e-07,
1.2109689053927445e-07,
2.052874550765002e-06,
4.127507574669582e-07,
-2.3787245938837416e-07,
-8.69564245198475e-08
],
[
-2.0010387134509698e-06,
-9.352231837146599e-07,
-1.0822207325500342e-05,
-2.3787245938838432e-07,
2.0146718814976047e-06,
4.5901864546533545e-06
],
[
-1.3744467574181798e-06,
4.681472653623265e-06,
-4.392302971216893e-05,
-8.695642451987514e-08,
4.59018645465335e-06,
2.4659343441222742e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3429697336940334,
0.148711791248872,
0.6087679490281372
],
"tvec_std_m": [
0.0006424568136979778,
0.0014193913771393726,
0.004965817499790215
]
},
"camera_center_std_m": [
0.011962995755558602,
0.006787871088395789,
0.0056117054108979925
],
"camera_center_std_mm": [
11.962995755558602,
6.787871088395789,
5.611705410897993
],
"orientation_std_deg": {
"roll": 0.2740150949546364,
"pitch": 0.4536427868494177,
"yaw": 0.15160130953940343
}
}
},
"observations": {
"markers": [
{
"marker_id": 102,
"observed_center_px": [
1080.5,
666.75
],
"projected_center_px": [
1076.9383544921875,
665.9205932617188
],
"reprojection_error_px": 3.6569432947240657,
"confidence": 0.3706021060264744
},
{
"marker_id": 63,
"observed_center_px": [
1242.75,
679.5
],
"projected_center_px": [
1245.3865966796875,
679.4976806640625
],
"reprojection_error_px": 2.6365976998128366,
"confidence": 0.17595316357979146
},
{
"marker_id": 58,
"observed_center_px": [
303.5,
667.0
],
"projected_center_px": [
306.2834777832031,
669.0394287109375
],
"reprojection_error_px": 3.4506547257848874,
"confidence": 0.36477504882812506
},
{
"marker_id": 103,
"observed_center_px": [
380.25,
636.75
],
"projected_center_px": [
380.96636962890625,
633.7794189453125
],
"reprojection_error_px": 3.055738412836998,
"confidence": 0.3840513212463472
},
{
"marker_id": 64,
"observed_center_px": [
223.0,
637.25
],
"projected_center_px": [
219.71414184570312,
636.3827514648438
],
"reprojection_error_px": 3.398379589140967,
"confidence": 0.434623576552645
},
{
"marker_id": 96,
"observed_center_px": [
718.75,
625.75
],
"projected_center_px": [
715.1912231445312,
628.492919921875
],
"reprojection_error_px": 4.4931617381125735,
"confidence": 0.3856676811642117
},
{
"marker_id": 62,
"observed_center_px": [
755.75,
613.25
],
"projected_center_px": [
758.6010131835938,
615.4164428710938
],
"reprojection_error_px": 3.5807472525631154,
"confidence": 0.389399536116577
},
{
"marker_id": 217,
"observed_center_px": [
1053.25,
503.0
],
"projected_center_px": [
1056.79931640625,
503.5058288574219
],
"reprojection_error_px": 3.5851791844587257,
"confidence": 0.3825847999309671
},
{
"marker_id": 207,
"observed_center_px": [
1165.25,
424.5
],
"projected_center_px": [
1161.095458984375,
422.81170654296875
],
"reprojection_error_px": 4.484478325018968,
"confidence": 0.3317966979370123
},
{
"marker_id": 206,
"observed_center_px": [
1043.0,
424.25
],
"projected_center_px": [
1041.866455078125,
424.0936279296875
],
"reprojection_error_px": 1.144279823418388,
"confidence": 0.3395752369504029
},
{
"marker_id": 214,
"observed_center_px": [
683.5,
429.5
],
"projected_center_px": [
684.8845825195312,
427.9981689453125
],
"reprojection_error_px": 2.0426857982115783,
"confidence": 0.32331803933574066
},
{
"marker_id": 76,
"observed_center_px": [
1047.0,
285.0
],
"projected_center_px": [
1045.9468994140625,
285.6061096191406
],
"reprojection_error_px": 1.2150677818610365,
"confidence": 0.21897944641113282
},
{
"marker_id": 50,
"observed_center_px": [
916.0,
251.75
],
"projected_center_px": [
918.3011474609375,
250.25804138183594
],
"reprojection_error_px": 2.7424843035636726,
"confidence": 0.2019269129002111
},
{
"marker_id": 86,
"observed_center_px": [
689.0,
189.0
],
"projected_center_px": [
689.6763305664062,
190.35658264160156
],
"reprojection_error_px": 1.5158296403455345,
"confidence": 0.17318614585520362
}
]
},
"qa": {
"sanity_notes": []
}
}

View File

@@ -0,0 +1,966 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:48Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "c",
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_c.npz",
"camera_matrix": [
[
1771.1837158203125,
0.0,
640.15869140625
],
[
0.0,
1772.2083740234375,
361.2322082519531
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_c.png",
"image_sha256": "a4fb61bb0c7145a0b952537d229dcefe8cf144488dfe7ba4339a0d136e785cf4",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 10,
"num_rejected_candidates": 15
},
"detections": [
{
"observation_id": "54e24be6-28be-4d6f-9f7f-7a35a7bd02b0",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
485.0,
535.0
],
[
538.0,
538.0
],
[
536.0,
589.0
],
[
484.0,
585.0
]
],
"center_px": [
510.75,
561.75
],
"quality": {
"area_px": 2656.5,
"perimeter_px": 206.28765487670898,
"sharpness": {
"laplacian_var": 194.57776733430927
},
"contrast": {
"p05": 19.0,
"p95": 167.0,
"dynamic_range": 148.0,
"mean_gray": 77.51414027149322,
"std_gray": 62.50480364568594
},
"geometry": {
"distance_to_center_norm": 0.32629743218421936,
"distance_to_border_px": 131.0
},
"edge_ratio": 1.0614845160738655,
"edge_lengths_px": [
53.0848388671875,
51.03919982910156,
52.15361785888672,
50.0099983215332
]
},
"confidence": 0.9420768601493317
},
{
"observation_id": "9b7743b9-73b4-41a4-b3b7-6122572b09a8",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
684.0,
479.0
],
[
737.0,
484.0
],
[
732.0,
533.0
],
[
680.0,
528.0
]
],
"center_px": [
708.25,
506.0
],
"quality": {
"area_px": 2595.0,
"perimeter_px": 203.8925895690918,
"sharpness": {
"laplacian_var": 423.96591859102955
},
"contrast": {
"p05": 42.0,
"p95": 177.0,
"dynamic_range": 135.0,
"mean_gray": 118.92873432155073,
"std_gray": 53.41795407389024
},
"geometry": {
"distance_to_center_norm": 0.2194800227880478,
"distance_to_border_px": 187.0
},
"edge_ratio": 1.082833247360446,
"edge_lengths_px": [
53.23532485961914,
49.25444030761719,
52.239830017089844,
49.162994384765625
]
},
"confidence": 0.9235032286251245
},
{
"observation_id": "725cd287-eb59-45a3-bdce-02388c1db1f0",
"type": "aruco",
"marker_id": 40,
"marker_size_m": 0.025,
"image_points_px": [
[
834.0,
313.0
],
[
797.0,
301.0
],
[
812.0,
267.0
],
[
848.0,
280.0
]
],
"center_px": [
822.75,
290.25
],
"quality": {
"area_px": 1404.0,
"perimeter_px": 150.18132400512695,
"sharpness": {
"laplacian_var": 1033.8424402835647
},
"contrast": {
"p05": 51.0,
"p95": 174.0,
"dynamic_range": 123.0,
"mean_gray": 99.09217577706323,
"std_gray": 49.548508963403066
},
"geometry": {
"distance_to_center_norm": 0.26638665795326233,
"distance_to_border_px": 267.0
},
"edge_ratio": 1.0850953315237581,
"edge_lengths_px": [
38.897300720214844,
37.161808013916016,
38.27531814575195,
35.84689712524414
]
},
"confidence": 0.8625970205637239
},
{
"observation_id": "64bb4543-5475-4a1b-aa4e-8dba75a7d7a7",
"type": "aruco",
"marker_id": 231,
"marker_size_m": 0.025,
"image_points_px": [
[
681.0,
598.0
],
[
740.0,
599.0
],
[
740.0,
616.0
],
[
689.0,
615.0
]
],
"center_px": [
712.5,
607.0
],
"quality": {
"area_px": 931.0,
"perimeter_px": 145.8065700531006,
"sharpness": {
"laplacian_var": 408.6101101899093
},
"contrast": {
"p05": 24.0,
"p95": 113.0,
"dynamic_range": 89.0,
"mean_gray": 64.45386904761905,
"std_gray": 33.31198505231576
},
"geometry": {
"distance_to_center_norm": 0.35056453943252563,
"distance_to_border_px": 104.0
},
"edge_ratio": 3.4710866142721737,
"edge_lengths_px": [
59.00847244262695,
17.0,
51.009803771972656,
18.788293838500977
]
},
"confidence": 0.17881048087784743
},
{
"observation_id": "2357b529-4e56-4692-9e17-5ae148a431ac",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
"image_points_px": [
[
744.0,
458.0
],
[
741.0,
476.0
],
[
687.0,
473.0
],
[
692.0,
456.0
]
],
"center_px": [
716.0,
465.75
],
"quality": {
"area_px": 937.5,
"perimeter_px": 142.09005165100098,
"sharpness": {
"laplacian_var": 992.9299474249533
},
"contrast": {
"p05": 14.0,
"p95": 158.79999999999995,
"dynamic_range": 144.79999999999995,
"mean_gray": 80.30977443609022,
"std_gray": 57.04112994992437
},
"geometry": {
"distance_to_center_norm": 0.17734786868095398,
"distance_to_border_px": 244.0
},
"edge_ratio": 3.0520955648121766,
"edge_lengths_px": [
18.248287200927734,
54.08327102661133,
17.72004508972168,
52.038448333740234
]
},
"confidence": 0.20477733633431033
},
{
"observation_id": "6da53d60-a29b-42c1-ae31-77e0531d1034",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
"image_points_px": [
[
903.0,
638.0
],
[
950.0,
641.0
],
[
952.0,
662.0
],
[
902.0,
659.0
]
],
"center_px": [
926.75,
650.0
],
"quality": {
"area_px": 1017.0,
"perimeter_px": 139.30438423156738,
"sharpness": {
"laplacian_var": 411.0265107039022
},
"contrast": {
"p05": 9.0,
"p95": 138.0,
"dynamic_range": 129.0,
"mean_gray": 61.5855354659249,
"std_gray": 49.92554246853262
},
"geometry": {
"distance_to_center_norm": 0.5553983449935913,
"distance_to_border_px": 58.0
},
"edge_ratio": 2.382534526574857,
"edge_lengths_px": [
47.095645904541016,
21.095022201538086,
50.08992004394531,
21.02379608154297
]
},
"confidence": 0.2845709023049064
},
{
"observation_id": "7a6bf88f-595f-4f7e-8d83-7b5e01d91334",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
701.0,
628.0
],
[
748.0,
632.0
],
[
744.0,
651.0
],
[
695.0,
647.0
]
],
"center_px": [
722.0,
639.5
],
"quality": {
"area_px": 932.0,
"perimeter_px": 135.67424774169922,
"sharpness": {
"laplacian_var": 153.48910990467152
},
"contrast": {
"p05": 6.0,
"p95": 86.0,
"dynamic_range": 80.0,
"mean_gray": 40.899371069182386,
"std_gray": 30.88255190529213
},
"geometry": {
"distance_to_center_norm": 0.39667633175849915,
"distance_to_border_px": 69.0
},
"edge_ratio": 2.5320229253292195,
"edge_lengths_px": [
47.16990661621094,
19.416488647460938,
49.162994384765625,
19.92485809326172
]
},
"confidence": 0.24539008992288097
},
{
"observation_id": "3aa1cdb1-7dd0-46e2-beec-838edb19dda7",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
668.0,
454.0
],
[
664.0,
472.0
],
[
614.0,
471.0
],
[
620.0,
453.0
]
],
"center_px": [
641.5,
462.5
],
"quality": {
"area_px": 887.0,
"perimeter_px": 135.43316650390625,
"sharpness": {
"laplacian_var": 779.864463176575
},
"contrast": {
"p05": 14.0,
"p95": 159.0,
"dynamic_range": 145.0,
"mean_gray": 90.6723602484472,
"std_gray": 54.33953909756743
},
"geometry": {
"distance_to_center_norm": 0.13960322737693787,
"distance_to_border_px": 248.0
},
"edge_ratio": 2.7121729715549994,
"edge_lengths_px": [
18.439088821411133,
50.0099983215332,
18.973665237426758,
48.010414123535156
]
},
"confidence": 0.21802935857527475
},
{
"observation_id": "a6f2b4a7-73cc-4262-b4aa-6f4da05db7a2",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
"image_points_px": [
[
303.0,
555.0
],
[
344.0,
557.0
],
[
335.0,
573.0
],
[
291.0,
572.0
]
],
"center_px": [
318.25,
564.25
],
"quality": {
"area_px": 717.0,
"perimeter_px": 124.22632789611816,
"sharpness": {
"laplacian_var": 1043.14627397841
},
"contrast": {
"p05": 22.0,
"p95": 161.34999999999997,
"dynamic_range": 139.34999999999997,
"mean_gray": 87.10700389105058,
"std_gray": 50.615686245828684
},
"geometry": {
"distance_to_center_norm": 0.5190029740333557,
"distance_to_border_px": 147.0
},
"edge_ratio": 2.3974518340826596,
"edge_lengths_px": [
41.04875183105469,
18.357559204101562,
44.0113639831543,
20.808652877807617
]
},
"confidence": 0.1993783538024228
},
{
"observation_id": "647b7ced-aa6a-4b28-9050-2d0d12adaaa3",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
"image_points_px": [
[
890.0,
575.0
],
[
934.0,
577.0
],
[
936.0,
594.0
],
[
892.0,
593.0
]
],
"center_px": [
913.0,
584.75
],
"quality": {
"area_px": 767.0,
"perimeter_px": 123.2848072052002,
"sharpness": {
"laplacian_var": 340.67132862592325
},
"contrast": {
"p05": 10.700000000000003,
"p95": 125.0,
"dynamic_range": 114.3,
"mean_gray": 73.4936936936937,
"std_gray": 41.824143377234996
},
"geometry": {
"distance_to_center_norm": 0.4815620481967926,
"distance_to_border_px": 126.0
},
"edge_ratio": 2.573161443734459,
"edge_lengths_px": [
44.04542922973633,
17.11724281311035,
44.0113639831543,
18.11077117919922
]
},
"confidence": 0.19871793687038514
}
],
"rejected_candidates": [
{
"image_points_px": [
[
546.0,
447.0
],
[
538.0,
462.0
],
[
487.0,
460.0
],
[
497.0,
447.0
]
],
"center_px": [
517.0,
454.0
],
"area_px": 709.0
},
{
"image_points_px": [
[
769.0,
228.0
],
[
766.0,
248.0
],
[
734.0,
265.0
],
[
740.0,
243.0
]
],
"center_px": [
752.25,
246.0
],
"area_px": 568.5
},
{
"image_points_px": [
[
780.0,
520.0
],
[
783.0,
543.0
],
[
779.0,
572.0
],
[
776.0,
534.0
]
],
"center_px": [
779.5,
542.25
],
"area_px": 186.5
},
{
"image_points_px": [
[
1225.0,
489.0
],
[
1259.0,
491.0
],
[
1269.0,
503.0
],
[
1231.0,
502.0
]
],
"center_px": [
1246.0,
496.25
],
"area_px": 438.0
},
{
"image_points_px": [
[
1026.0,
492.0
],
[
1061.0,
493.0
],
[
1068.0,
505.0
],
[
1032.0,
505.0
]
],
"center_px": [
1046.75,
498.75
],
"area_px": 440.5
},
{
"image_points_px": [
[
1096.0,
483.0
],
[
1129.0,
483.0
],
[
1136.0,
496.0
],
[
1100.0,
495.0
]
],
"center_px": [
1115.25,
489.25
],
"area_px": 428.5
},
{
"image_points_px": [
[
1126.0,
517.0
],
[
1151.0,
515.0
],
[
1161.0,
519.0
],
[
1135.0,
520.0
]
],
"center_px": [
1143.25,
517.75
],
"area_px": 103.5
},
{
"image_points_px": [
[
1208.0,
454.0
],
[
1227.0,
453.0
],
[
1236.0,
454.0
],
[
1238.0,
457.0
]
],
"center_px": [
1227.25,
454.5
],
"area_px": 56.0
},
{
"image_points_px": [
[
561.0,
383.0
],
[
568.0,
379.0
],
[
586.0,
381.0
],
[
585.0,
385.0
]
],
"center_px": [
575.0,
382.0
],
"area_px": 92.0
},
{
"image_points_px": [
[
543.0,
559.0
],
[
566.0,
559.0
],
[
568.0,
561.0
],
[
544.0,
562.0
]
],
"center_px": [
555.25,
560.25
],
"area_px": 59.5
},
{
"image_points_px": [
[
543.0,
550.0
],
[
565.0,
550.0
],
[
568.0,
552.0
],
[
544.0,
553.0
]
],
"center_px": [
555.0,
551.25
],
"area_px": 58.5
},
{
"image_points_px": [
[
427.0,
462.0
],
[
442.0,
461.0
],
[
451.0,
464.0
],
[
433.0,
465.0
]
],
"center_px": [
438.25,
463.0
],
"area_px": 57.0
},
{
"image_points_px": [
[
734.0,
390.0
],
[
734.0,
386.0
],
[
739.0,
379.0
],
[
751.0,
384.0
]
],
"center_px": [
739.5,
384.75
],
"area_px": 88.5
},
{
"image_points_px": [
[
545.0,
561.0
],
[
546.0,
559.0
],
[
564.0,
560.0
],
[
553.0,
562.0
]
],
"center_px": [
552.0,
560.5
],
"area_px": 32.0
},
{
"image_points_px": [
[
545.0,
552.0
],
[
547.0,
550.0
],
[
564.0,
551.0
],
[
552.0,
553.0
]
],
"center_px": [
552.0,
551.5
],
"area_px": 31.0
}
]
}

View File

@@ -0,0 +1,260 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:49Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "c",
"camera_matrix": [
[
1771.1837158203125,
0.0,
640.15869140625
],
[
0.0,
1772.2083740234375,
361.2322082519531
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 4,
"used_marker_ids": [
208,
215,
210,
214
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.004464254419595297,
0.0009809006222282186,
0.0009164799965027451,
0.0009158784048461688,
0.0009158768761971148
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 2.29793131172552,
"residual_median_px": 2.1452420959349903,
"residual_max_px": 3.2739924168757066,
"sigma2_normalized": 3.355321802178801e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.995592474937439,
0.09327799081802368,
0.009738676249980927
],
[
0.036200061440467834,
-0.28641805052757263,
-0.9574206471443176
],
[
-0.08651693910360336,
0.953553318977356,
-0.2885323166847229
]
],
"translation_m": [
-0.19767728447914124,
0.10672874003648758,
1.007198691368103
],
"rvec_rad": [
1.861498657958019,
0.09376354778114666,
-0.05560017520536802
]
},
"camera_in_world": {
"position_m": [
0.28008216619491577,
-0.9114096760749817,
0.3947187662124634
],
"position_mm": [
280.0821533203125,
-911.40966796875,
394.7187805175781
],
"orientation_deg": {
"roll": 106.83509826660156,
"pitch": 4.963260173797607,
"yaw": 2.0823752880096436
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0007219214707919095,
-0.00010615886627800751,
-1.2441742080183794e-05,
-2.2292220126872935e-06,
-1.9001378278315576e-05,
1.6055164393920986e-05
],
[
-0.00010615886627800271,
0.00018507450207990957,
-0.000229357839230566,
1.152655734440853e-05,
-5.499754188682744e-06,
8.805640626930607e-08
],
[
-1.2441742080190222e-05,
-0.0002293578392305681,
0.0005299258920832583,
-1.9116388130386854e-05,
-9.922861831299987e-06,
-2.5031660132005536e-06
],
[
-2.229222012687054e-06,
1.1526557344408634e-05,
-1.9116388130386925e-05,
1.6552782007454031e-06,
1.9425504100347702e-07,
2.1617897081681794e-06
],
[
-1.900137827831593e-05,
-5.49975418868228e-06,
-9.9228618313007e-06,
1.9425504100350238e-07,
4.608378172736113e-06,
4.99786823219628e-06
],
[
1.605516439392046e-05,
8.805640626925034e-08,
-2.5031660132003253e-06,
2.161789708168179e-06,
4.997868232196299e-06,
4.025176134184103e-05
]
],
"parameter_std": {
"rvec_std_deg": [
1.5394571733326972,
0.7794637583962379,
1.3189556791517139
],
"tvec_std_m": [
0.0012865761542735833,
0.0021467133420035645,
0.006344427581889561
]
},
"camera_center_std_m": [
0.020869968788817837,
0.012354161969592598,
0.024547181485578575
],
"camera_center_std_mm": [
20.869968788817836,
12.354161969592598,
24.547181485578577
],
"orientation_std_deg": {
"roll": 1.6399289775452035,
"pitch": 1.2464776756009308,
"yaw": 0.4474521059248073
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
926.75,
650.0
],
"projected_center_px": [
923.4891967773438,
649.7064208984375
],
"reprojection_error_px": 3.2739924168757066,
"confidence": 0.2845709023049064
},
{
"marker_id": 215,
"observed_center_px": [
722.0,
639.5
],
"projected_center_px": [
724.521240234375,
639.6602172851562
],
"reprojection_error_px": 2.526325770342009,
"confidence": 0.24539008992288097
},
{
"marker_id": 210,
"observed_center_px": [
318.25,
564.25
],
"projected_center_px": [
317.2970275878906,
564.263916015625
],
"reprojection_error_px": 0.9530740127253684,
"confidence": 0.1993783538024228
},
{
"marker_id": 214,
"observed_center_px": [
913.0,
584.75
],
"projected_center_px": [
914.7592163085938,
584.8819580078125
],
"reprojection_error_px": 1.7641584215279715,
"confidence": 0.19871793687038514
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,403 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:49Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\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": [
[
1782.066162109375,
0.0,
642.6578979492188
],
[
0.0,
1768.0228271484375,
359.4897766113281
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
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": 14,
"used_marker_ids": [
208,
46,
54,
53,
62,
56,
72,
96,
73,
69,
210,
82,
52,
64
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5
],
"rms": [
0.009308775076823378,
0.0014330993607598948,
0.001327319209375645,
0.001327208640831927,
0.0013272082463498774,
0.0013272082451253626
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 3.3427990598691837,
"residual_median_px": 3.104018978043626,
"residual_max_px": 6.1826516615780625,
"sigma2_normalized": 2.2418858329871643e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.31685158610343933,
0.9484124779701233,
0.010902531445026398
],
[
0.924948513507843,
-0.3064274489879608,
-0.22488324344158173
],
[
-0.20994123816490173,
0.08133889734745026,
-0.9743247032165527
]
],
"translation_m": [
0.12514308094978333,
-0.19992029666900635,
1.4976112842559814
],
"rvec_rad": [
2.389128436915193,
1.7230110326964123,
-0.18306449447137285
]
},
"camera_in_world": {
"position_m": [
0.45967453718185425,
-0.3017623722553253,
1.4128365516662598
],
"position_mm": [
459.6745300292969,
-301.7623596191406,
1412.8365478515625
],
"orientation_deg": {
"roll": 175.2278594970703,
"pitch": 12.118907928466797,
"yaw": 71.09051513671875
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00012927519885653523,
7.355082752258642e-05,
3.3642505963957154e-05,
-7.419173843570506e-07,
3.208295756095789e-07,
-9.243138271715984e-06
],
[
7.355082752258645e-05,
5.479371823621011e-05,
7.921077759239813e-06,
1.388445927540301e-06,
-4.800892207796481e-07,
-3.23444643200701e-06
],
[
3.364250596395541e-05,
7.921077759238683e-06,
0.0002764899057762162,
1.9032795255963847e-06,
-2.8151216812229854e-06,
-5.2656469615103395e-05
],
[
-7.41917384357023e-07,
1.3884459275403153e-06,
1.90327952559642e-06,
8.899025931426177e-07,
-7.045458201075336e-08,
1.115364482472444e-06
],
[
3.208295756096154e-07,
-4.800892207796352e-07,
-2.815121681222934e-06,
-7.045458201075372e-08,
4.4596121146400613e-07,
9.780444259490918e-07
],
[
-9.243138271715564e-06,
-3.23444643200674e-06,
-5.265646961510338e-05,
1.1153644824724507e-06,
9.780444259490997e-07,
1.9132440068815822e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.6514487268429225,
0.4241192829459477,
0.9527133978255534
],
"tvec_std_m": [
0.0009433464862618707,
0.0006678032730258261,
0.00437406447927049
]
},
"camera_center_std_m": [
0.018119605200826592,
0.01716001396017204,
0.008317910088745377
],
"camera_center_std_mm": [
18.11960520082659,
17.16001396017204,
8.317910088745377
],
"orientation_std_deg": {
"roll": 0.8368223134283057,
"pitch": 0.732631267917689,
"yaw": 0.2108268126643306
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
833.0,
550.0
],
"projected_center_px": [
832.3167724609375,
548.447509765625
],
"reprojection_error_px": 1.696179765815859,
"confidence": 0.5428712495800384
},
{
"marker_id": 46,
"observed_center_px": [
1230.25,
665.0
],
"projected_center_px": [
1232.2481689453125,
664.9286499023438
],
"reprojection_error_px": 1.9994424148864165,
"confidence": 0.3159706492088821
},
{
"marker_id": 54,
"observed_center_px": [
542.75,
634.25
],
"projected_center_px": [
542.2876586914062,
637.6007080078125
],
"reprojection_error_px": 3.3824552678861837,
"confidence": 0.5341344274256629
},
{
"marker_id": 53,
"observed_center_px": [
1244.5,
596.5
],
"projected_center_px": [
1238.6202392578125,
594.5885620117188
],
"reprojection_error_px": 6.1826516615780625,
"confidence": 0.17144184573051313
},
{
"marker_id": 62,
"observed_center_px": [
751.75,
647.0
],
"projected_center_px": [
751.5335693359375,
650.2422485351562
],
"reprojection_error_px": 3.249464232157262,
"confidence": 0.5065168665005101
},
{
"marker_id": 56,
"observed_center_px": [
1192.5,
630.0
],
"projected_center_px": [
1194.4803466796875,
626.2740478515625
],
"reprojection_error_px": 4.219536986944815,
"confidence": 0.5039410452696613
},
{
"marker_id": 72,
"observed_center_px": [
1197.0,
549.25
],
"projected_center_px": [
1196.4263916015625,
548.6759033203125
],
"reprojection_error_px": 0.811550116989854,
"confidence": 0.5122595869208664
},
{
"marker_id": 96,
"observed_center_px": [
725.75,
615.5
],
"projected_center_px": [
723.7894287109375,
613.2843017578125
],
"reprojection_error_px": 2.95857372392999,
"confidence": 0.4992534885349089
},
{
"marker_id": 73,
"observed_center_px": [
1246.0,
252.0
],
"projected_center_px": [
1249.216064453125,
252.60470581054688
],
"reprojection_error_px": 3.2724210737561505,
"confidence": 0.14638465244442148
},
{
"marker_id": 69,
"observed_center_px": [
478.5,
238.5
],
"projected_center_px": [
476.9173889160156,
240.89622497558594
],
"reprojection_error_px": 2.871681036739983,
"confidence": 0.48333333333333334
},
{
"marker_id": 210,
"observed_center_px": [
775.25,
152.5
],
"projected_center_px": [
777.1452026367188,
151.53663635253906
],
"reprojection_error_px": 2.12599683712722,
"confidence": 0.4498725719059821
},
{
"marker_id": 82,
"observed_center_px": [
1206.25,
262.0
],
"projected_center_px": [
1208.609130859375,
262.62249755859375
],
"reprojection_error_px": 2.439877378498888,
"confidence": 0.45054573733100234
},
{
"marker_id": 52,
"observed_center_px": [
1058.25,
157.5
],
"projected_center_px": [
1056.3900146484375,
161.4969482421875
],
"reprojection_error_px": 4.408530453422412,
"confidence": 0.4300811948723771
},
{
"marker_id": 64,
"observed_center_px": [
569.5,
180.5
],
"projected_center_px": [
571.5004272460938,
177.45713806152344
],
"reprojection_error_px": 3.6415268698093617,
"confidence": 0.4222114154249674
}
]
},
"qa": {
"sanity_notes": []
}
}

View File

@@ -0,0 +1,75 @@
{
"rows": [
{
"joint": "x",
"estimate": 48.74427911468562,
"gt": 50.0,
"error": 1.255720885314382,
"unit": "mm",
"observable": true,
"n_markers": 3
},
{
"joint": "y",
"estimate": 3.552864793905283,
"gt": 4.0,
"error": 0.447135206094714,
"unit": "deg",
"observable": true,
"n_markers": 3
},
{
"joint": "z",
"estimate": 175.9282876525017,
"gt": 176.0,
"error": 0.07171234749830546,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "a",
"estimate": 20.761641870348235,
"gt": 20.0,
"error": 0.7616418703482282,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "b",
"estimate": 60.14955751581353,
"gt": 60.0,
"error": 0.1495575158135125,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "c",
"estimate": 10.25864557029937,
"gt": 9.0,
"error": 1.2586455702993646,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "e",
"estimate": 4.433340440482657,
"gt": 5.0,
"error": 0.5666595595173431,
"unit": "mm",
"observable": true,
"n_markers": 2
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 0.48176265992647416,
"max_abs_deg": 1.2586455702993646,
"mean_abs_mm": 0.9111902224158626,
"max_abs_mm": 1.255720885314382,
"finger_error_mm": 1.587423053467241
}
}

View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:24:52Z",
"method": "hybrid",
"movements": {
"x": {
"value": 48.74427911468562,
"unit": "mm",
"observable": true,
"confidence": "medium",
"n_markers": 3
},
"y": {
"value": 3.552864793905283,
"unit": "deg",
"observable": true,
"confidence": "medium",
"n_markers": 3
},
"z": {
"value": 175.9282876525017,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 2
},
"a": {
"value": 20.761641870348235,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"b": {
"value": 60.14955751581353,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"c": {
"value": 10.25864557029937,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"e": {
"value": 4.433340440482657,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 2
}
},
"residual_rms": 2.307608079432282,
"num_markers": 16
}