16MPixel Bilder + Arbeiten an Statistik

This commit is contained in:
chk
2026-05-31 17:39:25 +02:00
parent ca98774657
commit 761919bb93
212 changed files with 159773 additions and 81014 deletions

View File

@@ -0,0 +1,726 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-05-31T14:41:45Z",
"summary": {
"num_cameras": 7,
"num_markers": 51,
"num_constraints": 89
},
"markers": [
{
"marker_id": 41,
"position_m": [
0.2848440695889747,
-0.10924846453479226,
-0.09747071670414247
],
"position_mm": [
284.84406958897466,
-109.24846453479226,
-97.47071670414246
],
"link": "FingerA"
},
{
"marker_id": 42,
"position_m": [
0.4410895771037191,
0.17016596181544633,
-0.28475627278139926
],
"position_mm": [
441.0895771037191,
170.16596181544634,
-284.7562727813993
],
"link": "FingerA"
},
{
"marker_id": 43,
"position_m": [
0.23477408851126919,
0.25870490080770586,
0.1783428554160894
],
"position_mm": [
234.77408851126918,
258.7049008077059,
178.3428554160894
],
"link": "FingerB"
},
{
"marker_id": 46,
"position_m": [
0.5643081087211429,
0.23457367811960764,
-0.05722769416145428
],
"position_mm": [
564.3081087211428,
234.57367811960765,
-57.22769416145428
],
"link": "Board"
},
{
"marker_id": 47,
"position_m": [
0.38272742183230374,
-0.30138567742726813,
-0.0479757670139387
],
"position_mm": [
382.7274218323037,
-301.38567742726815,
-47.9757670139387
],
"link": "Board"
},
{
"marker_id": 51,
"position_m": [
0.17974355769461914,
-0.16617453243880337,
-0.023911830255230557
],
"position_mm": [
179.74355769461914,
-166.17453243880337,
-23.91183025523056
],
"link": "Board"
},
{
"marker_id": 53,
"position_m": [
0.5081274690012305,
0.22060682227148995,
-0.03331729835328135
],
"position_mm": [
508.1274690012305,
220.60682227148996,
-33.31729835328135
],
"link": "Board"
},
{
"marker_id": 54,
"position_m": [
0.3084988644630998,
-0.3712846421164086,
-0.03704042967587799
],
"position_mm": [
308.49886446309984,
-371.2846421164086,
-37.040429675877995
],
"link": "Board"
},
{
"marker_id": 55,
"position_m": [
0.27111967508441864,
-0.28995426554218967,
-0.03862232843307399
],
"position_mm": [
271.11967508441865,
-289.95426554218966,
-38.62232843307399
],
"link": "Board"
},
{
"marker_id": 56,
"position_m": [
0.5228539951535351,
0.21230543954726508,
-0.05410419487206605
],
"position_mm": [
522.8539951535352,
212.30543954726508,
-54.10419487206605
],
"link": "Board"
},
{
"marker_id": 58,
"position_m": [
0.04904150705553146,
-0.2359448470271644,
-0.020893548129443124
],
"position_mm": [
49.04150705553146,
-235.9448470271644,
-20.893548129443126
],
"link": "Board"
},
{
"marker_id": 59,
"position_m": [
0.6176261494854492,
-0.23133451977953917,
0.010933221988899887
],
"position_mm": [
617.6261494854492,
-231.33451977953916,
10.933221988899888
],
"link": "Board"
},
{
"marker_id": 60,
"position_m": [
0.4584288405424964,
0.23412724296013795,
-0.025000577590969415
],
"position_mm": [
458.4288405424964,
234.12724296013795,
-25.000577590969414
],
"link": "Board"
},
{
"marker_id": 61,
"position_m": [
-0.010836243932828876,
0.30142340606078244,
-0.00886996041793363
],
"position_mm": [
-10.836243932828875,
301.42340606078244,
-8.86996041793363
],
"link": "Board"
},
{
"marker_id": 62,
"position_m": [
0.41856060793935573,
-0.1809451337987581,
-0.023656655978814865
],
"position_mm": [
418.56060793935575,
-180.9451337987581,
-23.656655978814864
],
"link": "Board"
},
{
"marker_id": 63,
"position_m": [
0.7447236119633683,
-0.1774028477824947,
0.017041888975344945
],
"position_mm": [
744.7236119633683,
-177.40284778249472,
17.041888975344946
],
"link": "Board"
},
{
"marker_id": 64,
"position_m": [
-0.004041192899947275,
-0.21452647442553013,
-0.011192270377443804
],
"position_mm": [
-4.0411928999472755,
-214.52647442553013,
-11.192270377443805
],
"link": "Board"
},
{
"marker_id": 66,
"position_m": [
0.14230510426947254,
-0.4476676146830174,
-0.05873929953368826
],
"position_mm": [
142.30510426947254,
-447.6676146830174,
-58.73929953368826
],
"link": "Board"
},
{
"marker_id": 68,
"position_m": [
0.6008642880943309,
0.21612207526332416,
-0.0545753126448289
],
"position_mm": [
600.8642880943308,
216.12207526332418,
-54.5753126448289
],
"link": "Board"
},
{
"marker_id": 69,
"position_m": [
-0.03614526794042194,
-0.31945438689884986,
-0.020513120960875663
],
"position_mm": [
-36.145267940421945,
-319.45438689884986,
-20.513120960875664
],
"link": "Board"
},
{
"marker_id": 71,
"position_m": [
0.7171890626371178,
-0.21734993407551026,
0.023784337115152196
],
"position_mm": [
717.1890626371178,
-217.34993407551025,
23.784337115152194
],
"link": "Board"
},
{
"marker_id": 72,
"position_m": [
0.4462355632325605,
0.195353028194682,
-0.016567139122247734
],
"position_mm": [
446.2355632325605,
195.353028194682,
-16.567139122247735
],
"link": "Board"
},
{
"marker_id": 75,
"position_m": [
-0.05937606348996685,
0.2102908887543967,
-0.003136734410281238
],
"position_mm": [
-59.37606348996685,
210.2908887543967,
-3.136734410281238
],
"link": "Board"
},
{
"marker_id": 79,
"position_m": [
0.32604437969669664,
-0.16165322081334427,
-0.02591749180117539
],
"position_mm": [
326.04437969669664,
-161.65322081334426,
-25.91749180117539
],
"link": "Board"
},
{
"marker_id": 83,
"position_m": [
0.05440818959751096,
0.3017592870595199,
-0.008047787796018821
],
"position_mm": [
54.40818959751096,
301.75928705951986,
-8.04778779601882
],
"link": "Board"
},
{
"marker_id": 84,
"position_m": [
0.4303427055384966,
0.24034260646803218,
-0.014617573200568007
],
"position_mm": [
430.34270553849655,
240.3426064680322,
-14.617573200568007
],
"link": "Board"
},
{
"marker_id": 85,
"position_m": [
0.48989411486932555,
-0.3035515742671335,
-0.003796944608660957
],
"position_mm": [
489.89411486932556,
-303.55157426713345,
-3.796944608660957
],
"link": "Board"
},
{
"marker_id": 86,
"position_m": [
0.3876804140061816,
0.2551916602116773,
-0.0011383318659759945
],
"position_mm": [
387.6804140061816,
255.1916602116773,
-1.1383318659759945
],
"link": "Board"
},
{
"marker_id": 92,
"position_m": [
0.6422503273370587,
-0.15021775230436152,
-0.001212637485717841
],
"position_mm": [
642.2503273370587,
-150.2177523043615,
-1.212637485717841
],
"link": "Board"
},
{
"marker_id": 95,
"position_m": [
0.16274370111129838,
-0.3215475481822192,
-0.04535570123717644
],
"position_mm": [
162.74370111129838,
-321.5475481822192,
-45.35570123717644
],
"link": "Board"
},
{
"marker_id": 96,
"position_m": [
0.3879428297933838,
-0.1918411185824817,
-0.027968158614884796
],
"position_mm": [
387.9428297933838,
-191.8411185824817,
-27.968158614884796
],
"link": "Board"
},
{
"marker_id": 97,
"position_m": [
0.2525934425915828,
-0.42179258152333,
-0.044569953795323025
],
"position_mm": [
252.59344259158277,
-421.79258152333,
-44.56995379532302
],
"link": "Board"
},
{
"marker_id": 102,
"position_m": [
0.6426295507682103,
-0.18202888191927,
0.004590378846317914
],
"position_mm": [
642.6295507682103,
-182.02888191927,
4.590378846317914
],
"link": "Board"
},
{
"marker_id": 103,
"position_m": [
0.11731988054089411,
-0.19232927977218037,
-0.022584887855836813
],
"position_mm": [
117.3198805408941,
-192.32927977218037,
-22.58488785583681
],
"link": "Board"
},
{
"marker_id": 105,
"position_m": [
0.5285487343037726,
-0.2372978824536106,
-0.0026578796538329896
],
"position_mm": [
528.5487343037726,
-237.2978824536106,
-2.65787965383299
],
"link": "Board"
},
{
"marker_id": 113,
"position_m": [
0.09427081979288143,
0.24703034942349889,
0.10440868290699541
],
"position_mm": [
94.27081979288144,
247.03034942349888,
104.40868290699541
],
"link": "Arm2"
},
{
"marker_id": 124,
"position_m": [
0.18670815007399286,
0.24315766659617719,
0.09049003180980571
],
"position_mm": [
186.70815007399287,
243.1576665961772,
90.49003180980571
],
"link": "Arm2"
},
{
"marker_id": 198,
"position_m": [
0.14575795716259554,
-0.044736613143919066,
-0.11549146061937667
],
"position_mm": [
145.75795716259555,
-44.736613143919065,
-115.49146061937667
],
"link": "Arm1"
},
{
"marker_id": 205,
"position_m": [
0.7572997167515477,
-0.056958394152831604,
-0.017446465254978026
],
"position_mm": [
757.2997167515477,
-56.9583941528316,
-17.446465254978026
],
"link": "Board"
},
{
"marker_id": 206,
"position_m": [
0.5543329403423674,
0.06306127024963706,
0.06445610486569192
],
"position_mm": [
554.3329403423674,
63.06127024963706,
64.45610486569193
],
"link": "Board"
},
{
"marker_id": 208,
"position_m": [
0.3217049402213062,
0.006940107456661959,
-0.025218141413989918
],
"position_mm": [
321.7049402213062,
6.940107456661959,
-25.21814141398992
],
"link": "Board"
},
{
"marker_id": 210,
"position_m": [
-0.008052786483138653,
0.022498631820022093,
-0.026565349916439458
],
"position_mm": [
-8.052786483138654,
22.498631820022094,
-26.56534991643946
],
"link": "Board"
},
{
"marker_id": 211,
"position_m": [
0.26716494639359545,
0.05754149241622627,
-0.0173186239774816
],
"position_mm": [
267.16494639359547,
57.54149241622627,
-17.3186239774816
],
"link": "Board"
},
{
"marker_id": 214,
"position_m": [
0.34046351560825894,
0.07645296607775383,
-0.022711375515792512
],
"position_mm": [
340.46351560825894,
76.45296607775383,
-22.71137551579251
],
"link": "Board"
},
{
"marker_id": 215,
"position_m": [
0.27447607223740106,
-0.07515216691644923,
-0.04195257176354168
],
"position_mm": [
274.47607223740107,
-75.15216691644923,
-41.952571763541684
],
"link": "Board"
},
{
"marker_id": 217,
"position_m": [
0.6695577274857121,
-0.06338774767933561,
-0.02243912124730305
],
"position_mm": [
669.5577274857121,
-63.38774767933561,
-22.43912124730305
],
"link": "Board"
},
{
"marker_id": 218,
"position_m": [
0.3204480982955628,
-0.1323033333959764,
-0.08527157343040724
],
"position_mm": [
320.44809829556283,
-132.3033333959764,
-85.27157343040724
],
"link": "Arm2"
},
{
"marker_id": 229,
"position_m": [
0.05681066466319935,
0.07942932057837464,
0.015788669555305262
],
"position_mm": [
56.810664663199354,
79.42932057837464,
15.788669555305262
],
"link": "Arm1"
},
{
"marker_id": 243,
"position_m": [
0.08250968084031708,
-0.025088012542186913,
-0.012246112727304994
],
"position_mm": [
82.50968084031709,
-25.088012542186913,
-12.246112727304993
],
"link": "Arm1"
},
{
"marker_id": 244,
"position_m": [
0.22707735362941756,
0.016984263202733735,
-0.03122860207168377
],
"position_mm": [
227.07735362941756,
16.984263202733736,
-31.22860207168377
],
"link": "Ellbow"
},
{
"marker_id": 245,
"position_m": [
0.17587877681126973,
-0.017231196477060767,
-0.029832102572903533
],
"position_mm": [
175.87877681126974,
-17.231196477060767,
-29.832102572903533
],
"link": "Ellbow"
}
]
}

View File

@@ -0,0 +1,725 @@
{
"schema_version": "1.2",
"created_utc": "2026-05-31T14:42:22Z",
"summary": {
"num_cameras": 7,
"num_markers": 51,
"num_constraints": 89
},
"markers": [
{
"marker_id": 41,
"position_m": [
0.31475315281264754,
0.016790823616325497,
-0.23417786729944443
],
"position_mm": [
314.75315281264756,
16.790823616325497,
-234.17786729944442
],
"link": "FingerA"
},
{
"marker_id": 42,
"position_m": [
0.34054124967789434,
0.051868201633841135,
-0.2529814794757987
],
"position_mm": [
340.54124967789437,
51.86820163384113,
-252.9814794757987
],
"link": "FingerA"
},
{
"marker_id": 43,
"position_m": [
0.2806952388771512,
0.139741624598429,
-0.06306073445420023
],
"position_mm": [
280.6952388771512,
139.741624598429,
-63.06073445420023
],
"link": "FingerB"
},
{
"marker_id": 46,
"position_m": [
0.5607589966050156,
0.2152602406031127,
-0.0451842860005193
],
"position_mm": [
560.7589966050156,
215.2602406031127,
-45.1842860005193
],
"link": "Board"
},
{
"marker_id": 47,
"position_m": [
0.3535011839715202,
-0.2937982450542711,
-0.02838740586787186
],
"position_mm": [
353.5011839715202,
-293.7982450542711,
-28.38740586787186
],
"link": "Board"
},
{
"marker_id": 51,
"position_m": [
0.15780429608956187,
-0.17981532731396282,
-0.03080772018023868
],
"position_mm": [
157.80429608956186,
-179.81532731396283,
-30.80772018023868
],
"link": "Board"
},
{
"marker_id": 53,
"position_m": [
0.49637078489693154,
0.2172842477923687,
-0.02819310669888372
],
"position_mm": [
496.3707848969315,
217.28424779236872,
-28.19310669888372
],
"link": "Board"
},
{
"marker_id": 54,
"position_m": [
0.3392800749258076,
-0.33555812330901635,
-0.02754196712640932
],
"position_mm": [
339.2800749258076,
-335.55812330901637,
-27.54196712640932
],
"link": "Board"
},
{
"marker_id": 55,
"position_m": [
0.2913373756738809,
-0.2756559984668745,
-0.03488821207474067
],
"position_mm": [
291.3373756738809,
-275.6559984668745,
-34.888212074740665
],
"link": "Board"
},
{
"marker_id": 56,
"position_m": [
0.529270946511631,
0.18857440047196514,
-0.04027767683291235
],
"position_mm": [
529.270946511631,
188.57440047196513,
-40.27767683291235
],
"link": "Board"
},
{
"marker_id": 58,
"position_m": [
0.03725518823218447,
-0.21965287615657442,
-0.028843578412760466
],
"position_mm": [
37.255188232184466,
-219.65287615657442,
-28.843578412760465
],
"link": "Board"
},
{
"marker_id": 59,
"position_m": [
0.6231859641344879,
-0.24748868169433869,
0.009903101611511207
],
"position_mm": [
623.1859641344879,
-247.48868169433868,
9.903101611511207
],
"link": "Board"
},
{
"marker_id": 60,
"position_m": [
0.44796534022166756,
0.2371166993416965,
-0.019094980419091852
],
"position_mm": [
447.9653402216676,
237.1166993416965,
-19.094980419091854
],
"link": "Board"
},
{
"marker_id": 61,
"position_m": [
-0.013508600750953155,
0.302209506299761,
-0.008918547058448923
],
"position_mm": [
-13.508600750953155,
302.209506299761,
-8.918547058448924
],
"link": "Board"
},
{
"marker_id": 62,
"position_m": [
0.4017884543319129,
-0.16621537885099286,
-0.01649915720478281
],
"position_mm": [
401.78845433191293,
-166.21537885099286,
-16.499157204782808
],
"link": "Board"
},
{
"marker_id": 63,
"position_m": [
0.7373036949657858,
-0.1878476361115282,
0.018502202590300717
],
"position_mm": [
737.3036949657859,
-187.84763611152817,
18.502202590300715
],
"link": "Board"
},
{
"marker_id": 64,
"position_m": [
-0.03375846453262458,
-0.18885367579108162,
-0.02887634493171756
],
"position_mm": [
-33.75846453262458,
-188.85367579108163,
-28.876344931717558
],
"link": "Board"
},
{
"marker_id": 66,
"position_m": [
0.20661276813612567,
-0.3685139244580029,
-0.02940197860326019
],
"position_mm": [
206.61276813612568,
-368.5139244580029,
-29.40197860326019
],
"link": "Board"
},
{
"marker_id": 68,
"position_m": [
0.5892136560023482,
0.18911381546877115,
-0.0353635150469913
],
"position_mm": [
589.2136560023482,
189.11381546877115,
-35.363515046991296
],
"link": "Board"
},
{
"marker_id": 69,
"position_m": [
-0.007244207878498232,
-0.28140590823635914,
-0.029224926707249393
],
"position_mm": [
-7.244207878498233,
-281.40590823635915,
-29.22492670724939
],
"link": "Board"
},
{
"marker_id": 71,
"position_m": [
0.7060452530481973,
-0.23284512559641454,
0.025800156158221454
],
"position_mm": [
706.0452530481973,
-232.84512559641453,
25.800156158221455
],
"link": "Board"
},
{
"marker_id": 72,
"position_m": [
0.4527995044724121,
0.19707317218936202,
-0.020240752797513275
],
"position_mm": [
452.7995044724121,
197.07317218936203,
-20.240752797513274
],
"link": "Board"
},
{
"marker_id": 75,
"position_m": [
-0.05515666335510195,
0.20289822107149202,
-0.008212525255793534
],
"position_mm": [
-55.15666335510195,
202.89822107149203,
-8.212525255793533
],
"link": "Board"
},
{
"marker_id": 79,
"position_m": [
0.33193653449176064,
-0.15191264995265072,
-0.02416454383116998
],
"position_mm": [
331.93653449176065,
-151.91264995265072,
-24.16454383116998
],
"link": "Board"
},
{
"marker_id": 83,
"position_m": [
0.053141212905327195,
0.3015546939141023,
-0.0075717468448803235
],
"position_mm": [
53.141212905327194,
301.5546939141023,
-7.571746844880323
],
"link": "Board"
},
{
"marker_id": 84,
"position_m": [
0.4275866433451053,
0.2630395616965789,
-0.03581411078488305
],
"position_mm": [
427.5866433451053,
263.03956169657886,
-35.81411078488305
],
"link": "Board"
},
{
"marker_id": 85,
"position_m": [
0.5042756158385779,
-0.3008273444547478,
-0.01770977891128874
],
"position_mm": [
504.27561583857795,
-300.8273444547478,
-17.70977891128874
],
"link": "Board"
},
{
"marker_id": 86,
"position_m": [
0.38152545950314537,
0.25571642906391134,
-0.005126895892960272
],
"position_mm": [
381.5254595031454,
255.71642906391133,
-5.126895892960272
],
"link": "Board"
},
{
"marker_id": 92,
"position_m": [
0.6155062637997721,
-0.1494482375072042,
0.010629037832776555
],
"position_mm": [
615.5062637997721,
-149.4482375072042,
10.629037832776556
],
"link": "Board"
},
{
"marker_id": 95,
"position_m": [
0.1741371503999236,
-0.28215849261318704,
-0.031300476985130735
],
"position_mm": [
174.1371503999236,
-282.15849261318704,
-31.300476985130736
],
"link": "Board"
},
{
"marker_id": 96,
"position_m": [
0.3797328408673298,
-0.19391989274604043,
-0.02632968670235568
],
"position_mm": [
379.7328408673298,
-193.91989274604043,
-26.32968670235568
],
"link": "Board"
},
{
"marker_id": 97,
"position_m": [
0.30116174253170647,
-0.36440655436448904,
-0.02646580222134528
],
"position_mm": [
301.16174253170647,
-364.40655436448907,
-26.465802221345278
],
"link": "Board"
},
{
"marker_id": 102,
"position_m": [
0.6216698166890728,
-0.18713092824713964,
0.006220872544218209
],
"position_mm": [
621.6698166890728,
-187.13092824713965,
6.220872544218209
],
"link": "Board"
},
{
"marker_id": 103,
"position_m": [
0.09536387653688794,
-0.19413910209555407,
-0.029350395317327523
],
"position_mm": [
95.36387653688794,
-194.13910209555408,
-29.350395317327525
],
"link": "Board"
},
{
"marker_id": 105,
"position_m": [
0.5241524604614566,
-0.25430664319861435,
-0.014075282743989656
],
"position_mm": [
524.1524604614566,
-254.30664319861435,
-14.075282743989655
],
"link": "Board"
},
{
"marker_id": 113,
"position_m": [
0.2666342880211547,
-0.08511381063084338,
-0.0271729848373082
],
"position_mm": [
266.6342880211547,
-85.11381063084337,
-27.1729848373082
],
"link": "Arm2"
},
{
"marker_id": 124,
"position_m": [
0.26396018614291084,
-0.1385516864340164,
-0.0015360567406137618
],
"position_mm": [
263.96018614291086,
-138.5516864340164,
-1.5360567406137617
],
"link": "Arm2"
},
{
"marker_id": 198,
"position_m": [
0.12644694746717258,
-0.03846147654664257,
-0.1036818649716401
],
"position_mm": [
126.44694746717258,
-38.46147654664257,
-103.6818649716401
],
"link": "Arm1"
},
{
"marker_id": 205,
"position_m": [
0.7544148704523009,
-0.06127896414545332,
-0.01653038538207712
],
"position_mm": [
754.414870452301,
-61.27896414545332,
-16.53038538207712
],
"link": "Board"
},
{
"marker_id": 206,
"position_m": [
0.604008843964277,
0.012497946013553618,
0.03163846920342532
],
"position_mm": [
604.008843964277,
12.497946013553618,
31.63846920342532
],
"link": "Board"
},
{
"marker_id": 208,
"position_m": [
0.339962670068526,
-0.07061225994736799,
-0.007270044917526303
],
"position_mm": [
339.962670068526,
-70.61225994736799,
-7.270044917526303
],
"link": "Board"
},
{
"marker_id": 210,
"position_m": [
0.009576454687636467,
-0.020613519161468745,
-0.004568989189343806
],
"position_mm": [
9.576454687636467,
-20.613519161468744,
-4.568989189343806
],
"link": "Board"
},
{
"marker_id": 211,
"position_m": [
0.27184394140346946,
0.010981749721820406,
-0.024012293761063706
],
"position_mm": [
271.84394140346944,
10.981749721820407,
-24.012293761063706
],
"link": "Board"
},
{
"marker_id": 214,
"position_m": [
0.3507352662995357,
0.008659749485534742,
-0.006614601482827832
],
"position_mm": [
350.73526629953574,
8.659749485534743,
-6.6146014828278314
],
"link": "Board"
},
{
"marker_id": 215,
"position_m": [
0.28523556825498864,
-0.06733247577860706,
-0.033475720546469946
],
"position_mm": [
285.23556825498866,
-67.33247577860706,
-33.475720546469944
],
"link": "Board"
},
{
"marker_id": 217,
"position_m": [
0.6394885364531012,
-0.053718999671512696,
0.004089435821049857
],
"position_mm": [
639.4885364531012,
-53.7189996715127,
4.089435821049857
],
"link": "Board"
},
{
"marker_id": 218,
"position_m": [
0.3255177951831567,
-0.13998004693153054,
-0.1338881630877467
],
"position_mm": [
325.5177951831567,
-139.98004693153055,
-133.8881630877467
],
"link": "Arm2"
},
{
"marker_id": 229,
"position_m": [
0.16774268807374676,
-0.07557819796131098,
-0.032868198090059565
],
"position_mm": [
167.74268807374676,
-75.57819796131098,
-32.868198090059565
],
"link": "Arm1"
},
{
"marker_id": 243,
"position_m": [
0.1390133088891904,
-0.061516999055657946,
0.00487199560901719
],
"position_mm": [
139.0133088891904,
-61.51699905565795,
4.87199560901719
],
"link": "Arm1"
},
{
"marker_id": 244,
"position_m": [
0.25084644576883475,
0.07833789102279598,
0.015548126063672972
],
"position_mm": [
250.84644576883474,
78.33789102279599,
15.548126063672973
],
"link": "Ellbow"
},
{
"marker_id": 245,
"position_m": [
0.2392430428934041,
0.030274407132345596,
0.021055054693660227
],
"position_mm": [
239.2430428934041,
30.274407132345598,
21.055054693660228
],
"link": "Ellbow"
}
]
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,445 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:43Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 14,
"used_marker_ids": [
55,
47,
54,
51,
210,
85,
79,
96,
105,
62,
75,
102,
92,
206
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19
],
"rms": [
0.2550351374035507,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.15806049223373672,
0.14699623241785992,
0.08550663198772257,
0.08300853012587446,
0.082993189724813,
0.08299143581733595,
0.08299117215645674,
0.08299113202042445,
0.08299112590245267,
0.08299112496773195,
0.0829911248245435,
0.0829911248024852,
0.08299112479904609
],
"lambda": [
0.001,
0.0005,
0.001,
0.002,
0.004,
0.008,
0.016,
0.032,
0.016,
0.008,
0.004,
0.002,
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05,
1.5625e-05,
7.8125e-06
]
},
"residual_rms_px": 247.42143090225213,
"residual_median_px": 189.36093485879957,
"residual_max_px": 427.5040937974711,
"sigma2_normalized": 0.008765943194042525
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.696112334728241,
-0.6790731549263,
-0.23299627006053925
],
[
-0.6971762180328369,
-0.7168710827827454,
0.006416028365492821
],
[
-0.1713852435350418,
0.15797318518161774,
-0.9724564552307129
]
],
"translation_m": [
0.19724678993225098,
0.5264778733253479,
0.5180459022521973
],
"rvec_rad": [
2.816786813465012,
-1.1450804710849414,
-0.33645745835217866
]
},
"camera_in_world": {
"position_m": [
0.31852734088897705,
0.42952442169189453,
0.5463569760322571
],
"position_mm": [
318.52734375,
429.5244140625,
546.3569946289062
],
"orientation_deg": {
"roll": 170.7730255126953,
"pitch": 9.868369102478027,
"yaw": -45.04374694824219
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.006271967978842045,
0.004793349119455165,
0.008070762638402807,
-0.0013799829796936273,
-0.0023595414906020444,
-0.0029516945908372475
],
[
0.004793349119455074,
0.024884090063633395,
0.019744512211518586,
-0.0030082716803578793,
-0.007467939662900134,
-0.005691104990331559
],
[
0.008070762638402763,
0.019744512211518843,
0.02388042998440534,
-0.003645417159658658,
-0.00710444136207086,
-0.007842229972519361
],
[
-0.0013799829796936132,
-0.003008271680357939,
-0.0036454171596586628,
0.00148199799234924,
0.0015637374442299895,
0.0017576795489709358
],
[
-0.002359541490602016,
-0.007467939662900189,
-0.0071044413620708225,
0.0015637374442299791,
0.0028367572782359244,
0.0025223942198622376
],
[
-0.0029516945908372345,
-0.005691104990331677,
-0.007842229972519389,
0.00175767954897094,
0.0025223942198622615,
0.003039857915175949
]
],
"parameter_std": {
"rvec_std_deg": [
4.53758265026798,
9.038232619000235,
8.854085339198889
],
"tvec_std_m": [
0.03849672703424591,
0.05326121739348364,
0.05513490650373817
]
},
"camera_center_std_m": [
0.12138569891196593,
0.055595904684668296,
0.06117004752575517
],
"camera_center_std_mm": [
121.38569891196593,
55.5959046846683,
61.170047525755166
],
"orientation_std_deg": {
"roll": 5.623982527845689,
"pitch": 5.637215120385333,
"yaw": 5.5710893268109825
}
}
},
"observations": {
"markers": [
{
"marker_id": 55,
"observed_center_px": [
3395.75,
2971.25
],
"projected_center_px": [
3269.76904296875,
3098.166259765625
],
"reprojection_error_px": 178.8265599048566,
"confidence": 0.9327901995983151
},
{
"marker_id": 47,
"observed_center_px": [
3765.25,
2900.5
],
"projected_center_px": [
3616.95703125,
3052.60986328125
],
"reprojection_error_px": 212.43402525991226,
"confidence": 0.8820535206405639
},
{
"marker_id": 54,
"observed_center_px": [
3951.5,
3065.75
],
"projected_center_px": [
3792.84326171875,
3261.887939453125
],
"reprojection_error_px": 252.27376378641276,
"confidence": 0.8576132554297061
},
{
"marker_id": 51,
"observed_center_px": [
2498.25,
2949.25
],
"projected_center_px": [
2509.70166015625,
2992.7099609375
],
"reprojection_error_px": 44.943394676228785,
"confidence": 0.9080770184132253
},
{
"marker_id": 210,
"observed_center_px": [
1241.0,
2673.5
],
"projected_center_px": [
1599.0888671875,
2859.135986328125
],
"reprojection_error_px": 403.3464468960187,
"confidence": 0.7451448168607637
},
{
"marker_id": 85,
"observed_center_px": [
4529.5,
2590.5
],
"projected_center_px": [
4474.40576171875,
2735.0185546875
],
"reprojection_error_px": 154.66411264658353,
"confidence": 0.6535427785570701
},
{
"marker_id": 79,
"observed_center_px": [
3116.0,
2547.25
],
"projected_center_px": [
2990.919921875,
2580.907958984375
],
"reprojection_error_px": 129.52947211638738,
"confidence": 0.9392243664141513
},
{
"marker_id": 96,
"observed_center_px": [
3463.25,
2501.5
],
"projected_center_px": [
3321.59765625,
2543.1494140625
],
"reprojection_error_px": 147.64843440286705,
"confidence": 0.6063473591649313
},
{
"marker_id": 105,
"observed_center_px": [
4400.25,
2399.5
],
"projected_center_px": [
4354.45458984375,
2455.594482421875
],
"reprojection_error_px": 72.41415986916654,
"confidence": 0.2536715470387048
},
{
"marker_id": 62,
"observed_center_px": [
3562.5,
2389.0
],
"projected_center_px": [
3420.02734375,
2398.420166015625
],
"reprojection_error_px": 142.7837431456838,
"confidence": 0.4321481343383343
},
{
"marker_id": 75,
"observed_center_px": [
492.75,
2224.5
],
"projected_center_px": [
904.8543090820312,
2110.790771484375
],
"reprojection_error_px": 427.5040937974711,
"confidence": 0.3469694639075123
},
{
"marker_id": 102,
"observed_center_px": [
4660.0,
2020.75
],
"projected_center_px": [
4776.58447265625,
1858.373291015625
],
"reprojection_error_px": 199.8953098127425,
"confidence": 0.7605882165177812
},
{
"marker_id": 92,
"observed_center_px": [
4488.75,
1931.0
],
"projected_center_px": [
4564.4404296875,
1701.9599609375
],
"reprojection_error_px": 241.2226785358912,
"confidence": 0.7981307357037608
},
{
"marker_id": 206,
"observed_center_px": [
3878.0,
1406.0
],
"projected_center_px": [
3963.491943359375,
987.382568359375
],
"reprojection_error_px": 427.2580326369019,
"confidence": 0.903357464550398
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,776 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:43Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 40,
"used_marker_ids": [
71,
47,
59,
105,
63,
102,
92,
62,
69,
95,
55,
58,
64,
103,
96,
51,
79,
205,
217,
208,
210,
207,
214,
206,
94,
76,
68,
56,
75,
53,
50,
104,
67,
86,
60,
70,
90,
91,
61,
83
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8
],
"rms": [
0.2180162409307021,
0.11249666662176248,
0.08397969402204783,
0.07815087216900453,
0.07812714914360112,
0.0781270023633121,
0.07812699796751436,
0.0781269978235256,
0.07812699781861625
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05,
1.5625e-05,
7.8125e-06,
3.90625e-06
]
},
"residual_rms_px": 233.6319192416594,
"residual_median_px": 221.3654529850337,
"residual_max_px": 473.5543117446655,
"sigma2_normalized": 0.006598732743912953
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9843704104423523,
-0.08986764401197433,
-0.15145538747310638
],
[
-0.08863414824008942,
-0.9959529638290405,
0.014889624901115894
],
[
-0.1521805375814438,
-0.0012327859876677394,
-0.9883519411087036
]
],
"translation_m": [
0.1690305769443512,
0.39149409532546997,
0.5915158987045288
],
"rvec_rad": [
3.1373542038510007,
-0.14111090608722038,
-0.24003310941789982
]
},
"camera_in_world": {
"position_m": [
-0.0416717454791069,
0.4058293104171753,
0.6043972969055176
],
"position_mm": [
-41.67174530029297,
405.8293151855469,
604.3972778320312
],
"orientation_deg": {
"roll": -179.92852783203125,
"pitch": 8.753313064575195,
"yaw": -5.145120620727539
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.000891169722570127,
-0.0008061838885219521,
1.9784065890917623e-05,
-0.00010820304040951072,
0.00023271664287010548,
-0.00010669733652635009
],
[
-0.000806183888521945,
0.0023904414850623276,
0.0012197521093101906,
-6.0809118898897204e-05,
-0.0008170746983408688,
-0.0004269153349664779
],
[
1.978406589092627e-05,
0.0012197521093101698,
0.0025005812478023394,
-0.00032361531218720195,
-0.0006130185121332305,
-0.0011059818643380313
],
[
-0.00010820304040951278,
-6.0809118898889086e-05,
-0.0003236153121871969,
0.0002625568498292632,
0.0001347347552161458,
0.0002846137107817639
],
[
0.00023271664287010201,
-0.0008170746983408649,
-0.0006130185121332357,
0.0001347347552161486,
0.0003920842895297734,
0.0003064990064402591
],
[
-0.00010669733652635444,
-0.0004269153349664654,
-0.001105981864338028,
0.00028461371078176577,
0.00030649900644025556,
0.0006060526030698586
]
],
"parameter_std": {
"rvec_std_deg": [
1.7104203062965013,
2.8013133502866316,
2.865121986758297
],
"tvec_std_m": [
0.01620360607486072,
0.01980111839088321,
0.024618135653819494
]
},
"camera_center_std_m": [
0.02910902628162059,
0.03756879043595322,
0.030773710568558602
],
"camera_center_std_mm": [
29.10902628162059,
37.568790435953225,
30.773710568558602
],
"orientation_std_deg": {
"roll": 1.822049922964102,
"pitch": 1.859881089657147,
"yaw": 1.6642479076314256
}
}
},
"observations": {
"markers": [
{
"marker_id": 71,
"observed_center_px": [
4682.75,
3069.0
],
"projected_center_px": [
4431.6162109375,
3247.9970703125
],
"reprojection_error_px": 308.39606221439715,
"confidence": 0.93711003907764
},
{
"marker_id": 47,
"observed_center_px": [
2634.0,
3103.5
],
"projected_center_px": [
2618.66943359375,
3105.739501953125
],
"reprojection_error_px": 15.49327710119753,
"confidence": 0.912893942006467
},
{
"marker_id": 59,
"observed_center_px": [
4054.25,
3052.75
],
"projected_center_px": [
3832.01220703125,
3175.331298828125
],
"reprojection_error_px": 253.80270180991192,
"confidence": 0.9005919489792288
},
{
"marker_id": 105,
"observed_center_px": [
3536.5,
3002.0
],
"projected_center_px": [
3368.56494140625,
3085.51171875
],
"reprojection_error_px": 187.55370183887428,
"confidence": 0.9206770471787415
},
{
"marker_id": 63,
"observed_center_px": [
4767.25,
2851.75
],
"projected_center_px": [
4554.837890625,
3045.77490234375
],
"reprojection_error_px": 287.68831561020806,
"confidence": 0.9143902497434336
},
{
"marker_id": 102,
"observed_center_px": [
4125.25,
2802.25
],
"projected_center_px": [
3923.451416015625,
2944.490478515625
],
"reprojection_error_px": 246.89070907276528,
"confidence": 0.9172583330383073
},
{
"marker_id": 92,
"observed_center_px": [
4073.25,
2637.5
],
"projected_center_px": [
3888.860107421875,
2778.96484375
],
"reprojection_error_px": 232.40467831389364,
"confidence": 0.8712206048456203
},
{
"marker_id": 62,
"observed_center_px": [
2910.5,
2610.0
],
"projected_center_px": [
2828.232421875,
2678.8681640625
],
"reprojection_error_px": 107.28829587560982,
"confidence": 0.803522405516391
},
{
"marker_id": 69,
"observed_center_px": [
927.5,
3097.75
],
"projected_center_px": [
1386.7720947265625,
2982.325439453125
],
"reprojection_error_px": 473.5543117446655,
"confidence": 0.905262596430799
},
{
"marker_id": 95,
"observed_center_px": [
1834.0,
3055.0
],
"projected_center_px": [
2010.134033203125,
3007.312744140625
],
"reprojection_error_px": 182.4754011471054,
"confidence": 0.8976746337642635
},
{
"marker_id": 55,
"observed_center_px": [
2327.25,
2997.0
],
"projected_center_px": [
2373.965087890625,
2992.518310546875
],
"reprojection_error_px": 46.929574651631675,
"confidence": 0.903108340169161
},
{
"marker_id": 58,
"observed_center_px": [
1176.5,
2811.75
],
"projected_center_px": [
1512.19775390625,
2763.239013671875
],
"reprojection_error_px": 339.18475462825376,
"confidence": 0.8844949082067705
},
{
"marker_id": 64,
"observed_center_px": [
844.5,
2686.5
],
"projected_center_px": [
1263.89892578125,
2639.7783203125
],
"reprojection_error_px": 421.9933344251871,
"confidence": 0.8683683754371148
},
{
"marker_id": 103,
"observed_center_px": [
1462.5,
2677.75
],
"projected_center_px": [
1696.009033203125,
2663.15673828125
],
"reprojection_error_px": 233.96459534521472,
"confidence": 0.8544539072325071
},
{
"marker_id": 96,
"observed_center_px": [
2743.5,
2658.75
],
"projected_center_px": [
2689.631103515625,
2716.36474609375
],
"reprojection_error_px": 78.87532552003567,
"confidence": 0.8589505521773345
},
{
"marker_id": 51,
"observed_center_px": [
1768.0,
2608.5
],
"projected_center_px": [
1912.92822265625,
2617.124267578125
],
"reprojection_error_px": 145.1845987477965,
"confidence": 0.8509910811659294
},
{
"marker_id": 79,
"observed_center_px": [
2463.5,
2547.25
],
"projected_center_px": [
2452.880615234375,
2595.813232421875
],
"reprojection_error_px": 49.71075211723757,
"confidence": 0.847596675022278
},
{
"marker_id": 205,
"observed_center_px": [
4517.5,
2177.0
],
"projected_center_px": [
4556.38232421875,
2495.138427734375
],
"reprojection_error_px": 320.505685344195,
"confidence": 0.8406075482029924
},
{
"marker_id": 217,
"observed_center_px": [
4048.5,
2181.75
],
"projected_center_px": [
4038.003662109375,
2475.214599609375
],
"reprojection_error_px": 293.6522506860878,
"confidence": 0.8283605841985052
},
{
"marker_id": 208,
"observed_center_px": [
2637.0,
2196.5
],
"projected_center_px": [
2658.80224609375,
2422.205322265625
],
"reprojection_error_px": 226.7558829088279,
"confidence": 0.5568471708157432
},
{
"marker_id": 210,
"observed_center_px": [
1115.25,
1945.0
],
"projected_center_px": [
1367.635986328125,
2106.98486328125
],
"reprojection_error_px": 299.8962854505967,
"confidence": 0.8018014734907156
},
{
"marker_id": 207,
"observed_center_px": [
4444.0,
1875.5
],
"projected_center_px": [
4527.037109375,
2119.787109375
],
"reprojection_error_px": 258.0142502656567,
"confidence": 0.5521725959715403
},
{
"marker_id": 214,
"observed_center_px": [
2625.75,
1893.0
],
"projected_center_px": [
2632.4296875,
2089.3125
],
"reprojection_error_px": 196.42610794226835,
"confidence": 0.3718720204418987
},
{
"marker_id": 206,
"observed_center_px": [
3990.0,
1880.0
],
"projected_center_px": [
4009.461669921875,
2111.4619140625
],
"reprojection_error_px": 232.27865648316495,
"confidence": 0.6158675792473144
},
{
"marker_id": 94,
"observed_center_px": [
4790.0,
1326.0
],
"projected_center_px": [
4924.25732421875,
1191.8868408203125
],
"reprojection_error_px": 189.76661606176876,
"confidence": 0.2817093039274623
},
{
"marker_id": 76,
"observed_center_px": [
4002.5,
1354.5
],
"projected_center_px": [
3959.87890625,
1258.8807373046875
],
"reprojection_error_px": 104.68811313058168,
"confidence": 0.3815939257199647
},
{
"marker_id": 68,
"observed_center_px": [
3535.5,
1347.0
],
"projected_center_px": [
3441.7490234375,
1261.58251953125
],
"reprojection_error_px": 126.82819708586774,
"confidence": 0.31372055843239094
},
{
"marker_id": 56,
"observed_center_px": [
3223.0,
1356.0
],
"projected_center_px": [
3112.67138671875,
1282.1180419921875
],
"reprojection_error_px": 132.78157488007056,
"confidence": 0.24873977465808988
},
{
"marker_id": 75,
"observed_center_px": [
1041.5,
1294.75
],
"projected_center_px": [
1139.1160888671875,
1261.731689453125
],
"reprojection_error_px": 103.04906422232337,
"confidence": 0.5936490959290838
},
{
"marker_id": 53,
"observed_center_px": [
3157.5,
1221.5
],
"projected_center_px": [
3045.237548828125,
1104.767822265625
],
"reprojection_error_px": 161.95449750385856,
"confidence": 0.38406546841865996
},
{
"marker_id": 50,
"observed_center_px": [
3515.0,
1219.0
],
"projected_center_px": [
3426.620361328125,
1087.7431640625
],
"reprojection_error_px": 158.23816705237385,
"confidence": 0.3623582322914286
},
{
"marker_id": 104,
"observed_center_px": [
4530.75,
1127.25
],
"projected_center_px": [
4641.50048828125,
903.8279418945312
],
"reprojection_error_px": 249.3653678894059,
"confidence": 0.3969600163291596
},
{
"marker_id": 67,
"observed_center_px": [
3288.25,
1055.75
],
"projected_center_px": [
3186.029052734375,
869.0663452148438
],
"reprojection_error_px": 212.8377528161418,
"confidence": 0.5839855850345927
},
{
"marker_id": 86,
"observed_center_px": [
2640.5,
989.5
],
"projected_center_px": [
2511.186767578125,
812.1798095703125
],
"reprojection_error_px": 219.46380570247683,
"confidence": 0.6091566669864215
},
{
"marker_id": 60,
"observed_center_px": [
2927.5,
1011.0
],
"projected_center_px": [
2803.993408203125,
825.0045166015625
],
"reprojection_error_px": 223.2671002675906,
"confidence": 0.6917774793825247
},
{
"marker_id": 70,
"observed_center_px": [
3589.25,
956.75
],
"projected_center_px": [
3525.658447265625,
705.0609130859375
],
"reprojection_error_px": 259.5983090291678,
"confidence": 0.6937491265566955
},
{
"marker_id": 90,
"observed_center_px": [
3744.75,
910.0
],
"projected_center_px": [
3710.393310546875,
621.87841796875
],
"reprojection_error_px": 290.16276146736817,
"confidence": 0.572417468607282
},
{
"marker_id": 91,
"observed_center_px": [
4054.0,
874.5
],
"projected_center_px": [
4088.9189453125,
541.1148071289062
],
"reprojection_error_px": 335.2089192838307,
"confidence": 0.7118063415160157
},
{
"marker_id": 61,
"observed_center_px": [
1119.75,
878.75
],
"projected_center_px": [
1109.111083984375,
752.16357421875
],
"reprojection_error_px": 127.0327112442281,
"confidence": 0.684257310321457
},
{
"marker_id": 83,
"observed_center_px": [
1383.5,
867.25
],
"projected_center_px": [
1328.9713134765625,
721.536865234375
],
"reprojection_error_px": 155.58179616265042,
"confidence": 0.6697424063408578
}
]
},
"qa": {
"sanity_notes": []
}
}

View File

@@ -0,0 +1,820 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:27Z",
"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\\Scene9b\\render_a.npz",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_c.png",
"image_sha256": "2b880c2a69833f3ae3608a229dc7213e6dbb920dd6e3a693c3580e89f64bf4fd",
"width_px": 4896,
"height_px": 3264
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 11,
"num_rejected_candidates": 7
},
"detections": [
{
"observation_id": "b61227c7-cf09-4259-8bdb-a470efd8d3bd",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
3032.0,
1179.0
],
[
2821.0,
1189.0
],
[
2824.0,
968.0
],
[
3037.0,
961.0
]
],
"center_px": [
2928.5,
1074.25
],
"quality": {
"area_px": 46500.0,
"perimeter_px": 863.4295043945312,
"sharpness": {
"laplacian_var": 18.55147930350963
},
"contrast": {
"p05": 11.0,
"p95": 166.0,
"dynamic_range": 155.0,
"mean_gray": 49.96297031012365,
"std_gray": 62.90528596658183
},
"geometry": {
"distance_to_center_norm": 0.2502210736274719,
"distance_to_border_px": 961.0
},
"edge_ratio": 1.046315424646608,
"edge_lengths_px": [
211.23683166503906,
221.02035522460938,
213.114990234375,
218.0573272705078
]
},
"confidence": 0.14775244369048157
},
{
"observation_id": "7216820f-3cd8-48a9-8af4-57334459192e",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
"image_points_px": [
[
2909.0,
2533.0
],
[
2904.0,
2731.0
],
[
2692.0,
2720.0
],
[
2696.0,
2522.0
]
],
"center_px": [
2800.25,
2626.5
],
"quality": {
"area_px": 42124.5,
"perimeter_px": 821.6725616455078,
"sharpness": {
"laplacian_var": 78.63821782305665
},
"contrast": {
"p05": 20.0,
"p95": 178.0,
"dynamic_range": 158.0,
"mean_gray": 78.11968985475592,
"std_gray": 72.72641167290095
},
"geometry": {
"distance_to_center_norm": 0.3585974872112274,
"distance_to_border_px": 533.0
},
"edge_ratio": 1.0769713569291897,
"edge_lengths_px": [
198.06312561035156,
212.28518676757812,
198.0404052734375,
213.28384399414062
]
},
"confidence": 0.6084827397149544
},
{
"observation_id": "8ff8d92d-8c15-406d-a270-77374182f39f",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
1932.0,
2514.0
],
[
2140.0,
2524.0
],
[
2144.0,
2712.0
],
[
1938.0,
2702.0
]
],
"center_px": [
2038.5,
2613.0
],
"quality": {
"area_px": 38866.0,
"perimeter_px": 790.6210784912109,
"sharpness": {
"laplacian_var": 98.14600452884856
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 71.44654761904762,
"std_gray": 70.08627506414348
},
"geometry": {
"distance_to_center_norm": 0.3613160252571106,
"distance_to_border_px": 552.0
},
"edge_ratio": 1.107410312413073,
"edge_lengths_px": [
208.24024963378906,
188.04254150390625,
206.24256896972656,
188.09571838378906
]
},
"confidence": 0.7385549528535191
},
{
"observation_id": "1be08da1-ca8e-4694-ad4a-fffed24e450c",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
361.0,
3199.0
],
[
441.0,
3098.0
],
[
634.0,
3110.0
],
[
559.0,
3211.0
]
],
"center_px": [
498.75,
3154.5
],
"quality": {
"area_px": 20675.5,
"perimeter_px": 646.3822860717773,
"sharpness": {
"laplacian_var": 719.2238764663232
},
"contrast": {
"p05": 15.0,
"p95": 180.0,
"dynamic_range": 165.0,
"mean_gray": 67.71389219773675,
"std_gray": 74.74534267309858
},
"geometry": {
"distance_to_center_norm": 0.8406748175621033,
"distance_to_border_px": 53.0
},
"edge_ratio": 1.5767968369302163,
"edge_lengths_px": [
128.84486389160156,
193.37269592285156,
125.80142974853516,
198.36329650878906
]
},
"confidence": 0.6341971118783114
},
{
"observation_id": "e6d84d24-9399-45f4-a84c-4689d7e5d2c7",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
"image_points_px": [
[
1920.0,
3221.0
],
[
1957.0,
3118.0
],
[
2155.0,
3130.0
],
[
2124.0,
3233.0
]
],
"center_px": [
2039.0,
3175.5
],
"quality": {
"area_px": 21111.0,
"perimeter_px": 619.7239074707031,
"sharpness": {
"laplacian_var": 570.6463778425685
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 72.69478672985782,
"std_gray": 69.14577497861639
},
"geometry": {
"distance_to_center_norm": 0.5427257418632507,
"distance_to_border_px": 31.0
},
"edge_ratio": 1.8998248055483444,
"edge_lengths_px": [
109.44404602050781,
198.36329650878906,
107.56393432617188,
204.35263061523438
]
},
"confidence": 0.3263458810461473
},
{
"observation_id": "b0c47230-cdc7-464a-8de4-f8c363c5b7e8",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
"image_points_px": [
[
3124.0,
3235.0
],
[
3127.0,
3132.0
],
[
3329.0,
3143.0
],
[
3332.0,
3247.0
]
],
"center_px": [
3228.0,
3189.25
],
"quality": {
"area_px": 21217.5,
"perimeter_px": 617.7320938110352,
"sharpness": {
"laplacian_var": 604.9438595236018
},
"contrast": {
"p05": 18.0,
"p95": 173.0,
"dynamic_range": 155.0,
"mean_gray": 87.71643199303237,
"std_gray": 73.19398536341984
},
"geometry": {
"distance_to_center_norm": 0.5919771790504456,
"distance_to_border_px": 17.0
},
"edge_ratio": 2.0219180297318085,
"edge_lengths_px": [
103.0436782836914,
202.29928588867188,
104.04325866699219,
208.3458709716797
]
},
"confidence": 0.16815716314923923
},
{
"observation_id": "379af811-84ea-4864-a6ef-9e5c44057f90",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
"image_points_px": [
[
1997.0,
2171.0
],
[
2196.0,
2179.0
],
[
2167.0,
2262.0
],
[
1961.0,
2253.0
]
],
"center_px": [
2080.25,
2216.25
],
"quality": {
"area_px": 16982.5,
"perimeter_px": 582.8321075439453,
"sharpness": {
"laplacian_var": 501.89618236612176
},
"contrast": {
"p05": 17.0,
"p95": 179.0,
"dynamic_range": 162.0,
"mean_gray": 61.79698428558452,
"std_gray": 69.57672480086748
},
"geometry": {
"distance_to_center_norm": 0.23464417457580566,
"distance_to_border_px": 1002.0
},
"edge_ratio": 2.3452629989573848,
"edge_lengths_px": [
199.16073608398438,
87.92041778564453,
206.19650268554688,
89.55445098876953
]
},
"confidence": 0.4263914113020852
},
{
"observation_id": "36c1a175-4b18-4617-b6b9-0a26c370dd7d",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
"image_points_px": [
[
3431.0,
2697.0
],
[
3619.0,
2706.0
],
[
3631.0,
2792.0
],
[
3435.0,
2782.0
]
],
"center_px": [
3529.0,
2744.25
],
"quality": {
"area_px": 16340.0,
"perimeter_px": 556.3974838256836,
"sharpness": {
"laplacian_var": 128.64061740594212
},
"contrast": {
"p05": 10.0,
"p95": 143.0,
"dynamic_range": 133.0,
"mean_gray": 52.67617449664429,
"std_gray": 57.45837503036332
},
"geometry": {
"distance_to_center_norm": 0.5271756649017334,
"distance_to_border_px": 472.0
},
"edge_ratio": 2.306329459165501,
"edge_lengths_px": [
188.21530151367188,
86.83317565917969,
196.25494384765625,
85.09406280517578
]
},
"confidence": 0.4335893972242066
},
{
"observation_id": "e759bd70-37e3-43c1-9a5a-81cf286986c0",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
"image_points_px": [
[
2114.0,
1905.0
],
[
2293.0,
1912.0
],
[
2269.0,
1979.0
],
[
2084.0,
1972.0
]
],
"center_px": [
2190.0,
1942.0
],
"quality": {
"area_px": 12383.0,
"perimeter_px": 508.8478317260742,
"sharpness": {
"laplacian_var": 171.63866644798688
},
"contrast": {
"p05": 16.0,
"p95": 175.0,
"dynamic_range": 159.0,
"mean_gray": 83.76647741298444,
"std_gray": 69.85241713511452
},
"geometry": {
"distance_to_center_norm": 0.13708308339118958,
"distance_to_border_px": 1285.0
},
"edge_ratio": 2.601313281102682,
"edge_lengths_px": [
179.13682556152344,
71.16881561279297,
185.13238525390625,
73.40980529785156
]
},
"confidence": 0.3844212103419184
},
{
"observation_id": "f500dc08-69ec-418f-9af0-50e094637fca",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
"image_points_px": [
[
3418.0,
2449.0
],
[
3589.0,
2457.0
],
[
3600.0,
2527.0
],
[
3423.0,
2521.0
]
],
"center_px": [
3507.5,
2488.5
],
"quality": {
"area_px": 12298.0,
"perimeter_px": 491.3211135864258,
"sharpness": {
"laplacian_var": 26.211525251588437
},
"contrast": {
"p05": 11.0,
"p95": 139.0,
"dynamic_range": 128.0,
"mean_gray": 76.11467324290999,
"std_gray": 53.452664510439604
},
"geometry": {
"distance_to_center_norm": 0.4630657434463501,
"distance_to_border_px": 737.0
},
"edge_ratio": 2.499352633765783,
"edge_lengths_px": [
171.18702697753906,
70.85901641845703,
177.10166931152344,
72.17340087890625
]
},
"confidence": 0.08739438130723556
},
{
"observation_id": "f6b3f378-16b4-489a-a3ec-a147beb6ae23",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
"image_points_px": [
[
1148.0,
2375.0
],
[
1307.0,
2382.0
],
[
1264.0,
2447.0
],
[
1098.0,
2440.0
]
],
"center_px": [
1204.25,
2411.0
],
"quality": {
"area_px": 10888.0,
"perimeter_px": 485.24349212646484,
"sharpness": {
"laplacian_var": 153.48486159938045
},
"contrast": {
"p05": 25.0,
"p95": 178.0,
"dynamic_range": 153.0,
"mean_gray": 93.38757188946556,
"std_gray": 61.77197573978108
},
"geometry": {
"distance_to_center_norm": 0.4988113343715668,
"distance_to_border_px": 817.0
},
"edge_ratio": 2.1318492718211375,
"edge_lengths_px": [
159.1540069580078,
77.93586730957031,
166.14752197265625,
82.00609588623047
]
},
"confidence": 0.46907631473671096
}
],
"rejected_candidates": [
{
"image_points_px": [
[
4509.0,
2174.0
],
[
4645.0,
2182.0
],
[
4675.0,
2238.0
],
[
4533.0,
2229.0
]
],
"center_px": [
4590.5,
2205.75
],
"area_px": 7485.0
},
{
"image_points_px": [
[
3926.0,
2134.0
],
[
4057.0,
2142.0
],
[
4078.0,
2186.0
],
[
3938.0,
2183.0
]
],
"center_px": [
3999.75,
2161.25
],
"area_px": 6210.0
},
{
"image_points_px": [
[
403.0,
3183.0
],
[
420.0,
3161.0
],
[
523.0,
3171.0
],
[
508.0,
3195.0
]
],
"center_px": [
463.5,
3177.5
],
"area_px": 2568.0
},
{
"image_points_px": [
[
2958.0,
1063.0
],
[
3008.0,
1065.0
],
[
3006.0,
1117.0
],
[
2953.0,
1116.0
]
],
"center_px": [
2981.25,
1090.25
],
"area_px": 2709.0
},
{
"image_points_px": [
[
3138.0,
3142.0
],
[
3152.0,
3144.0
],
[
3148.0,
3227.0
],
[
3134.0,
3225.0
]
],
"center_px": [
3143.0,
3184.5
],
"area_px": 1170.0
},
{
"image_points_px": [
[
3042.0,
25.0
],
[
3062.0,
73.0
],
[
3019.0,
82.0
],
[
3000.0,
36.0
]
],
"center_px": [
3030.75,
54.0
],
"area_px": 2192.5
},
{
"image_points_px": [
[
1977.0,
3153.0
],
[
1984.0,
3135.0
],
[
2051.0,
3140.0
],
[
2044.0,
3158.0
]
],
"center_px": [
2014.0,
3146.5
],
"area_px": 1241.0
}
]
}

View File

@@ -0,0 +1,324 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:44Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 6,
"used_marker_ids": [
64,
51,
79,
208,
214,
210
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"rms": [
0.20954890381004515,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.1869720826308988,
0.15123783003445085,
0.07237763575425858,
0.06980797776818796,
0.06977710860596799,
0.06977638564520809,
0.06977636308919233,
0.06977636235798676,
0.06977636233443539
],
"lambda": [
0.001,
0.0005,
0.001,
0.002,
0.004,
0.008,
0.016,
0.032,
0.064,
0.032,
0.016,
0.008,
0.004,
0.002,
0.001,
0.0005,
0.00025
]
},
"residual_rms_px": 205.92139826650651,
"residual_median_px": 205.93958330461788,
"residual_max_px": 271.7407604995317,
"sigma2_normalized": 0.009737481481051276
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9992696642875671,
0.03819894790649414,
-0.0009960827883332968
],
[
0.038155462592840195,
-0.9960373044013977,
0.08033572882413864
],
[
0.002076604636386037,
-0.08031506836414337,
-0.9967673420906067
]
],
"translation_m": [
0.032195404171943665,
0.18292811512947083,
0.26057642698287964
],
"rvec_rad": [
3.221430123957364,
0.0616146844199677,
0.0008719341394840627
]
},
"camera_in_world": {
"position_m": [
-0.0396927110850811,
0.2019016146659851,
0.2450704723596573
],
"position_mm": [
-39.692710876464844,
201.901611328125,
245.07046508789062
],
"orientation_deg": {
"roll": -175.393310546875,
"pitch": -0.1189807653427124,
"yaw": 2.1866824626922607
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.013386986084594626,
-0.002323857222543801,
0.0031826197623536193,
-0.00048304860288038047,
0.00030844490752469597,
-0.002162251071397383
],
[
-0.0023238572225430932,
0.041047880137537227,
0.03199019290396687,
0.0026942100613567897,
-0.007527240017338354,
-0.006553975955421315
],
[
0.003182619762354393,
0.03199019290396655,
0.03814245328056149,
0.0018584254555266615,
-0.006887016820608166,
-0.008476463041940916
],
[
-0.00048304860288035336,
0.002694210061356823,
0.0018584254555267063,
0.0005599101938695058,
-0.00018337868052566085,
-4.7487646417936934e-05
],
[
0.0003084449075245338,
-0.007527240017338332,
-0.006887016820608216,
-0.0001833786805256468,
0.0019547700370231564,
0.0017897759440283487
],
[
-0.0021622510713975663,
-0.006553975955421171,
-0.00847646304194084,
-4.748764641792104e-05,
0.001789775944028318,
0.0023987922239534242
]
],
"parameter_std": {
"rvec_std_deg": [
6.629244521514204,
11.608283317098534,
11.189919027162508
],
"tvec_std_m": [
0.02366242155548552,
0.04421278137623957,
0.04897746649177991
]
},
"camera_center_std_m": [
0.06633448319244387,
0.05915244450880047,
0.0612163737333524
],
"camera_center_std_mm": [
66.33448319244387,
59.15244450880047,
61.2163737333524
],
"orientation_std_deg": {
"roll": 7.061898426527034,
"pitch": 7.1949823168810445,
"yaw": 6.982820813710977
}
}
},
"observations": {
"markers": [
{
"marker_id": 64,
"observed_center_px": [
498.75,
3154.5
],
"projected_center_px": [
744.9483032226562,
3269.519287109375
],
"reprojection_error_px": 271.7407604995317,
"confidence": 0.6341971118783114
},
{
"marker_id": 51,
"observed_center_px": [
2039.0,
3175.5
],
"projected_center_px": [
2000.4910888671875,
3211.5869140625
],
"reprojection_error_px": 52.775009267541684,
"confidence": 0.3263458810461473
},
{
"marker_id": 79,
"observed_center_px": [
3228.0,
3189.25
],
"projected_center_px": [
2965.67822265625,
3162.85009765625
],
"reprojection_error_px": 263.6468655465934,
"confidence": 0.16815716314923923
},
{
"marker_id": 208,
"observed_center_px": [
3529.0,
2744.25
],
"projected_center_px": [
3542.18994140625,
2938.6181640625
],
"reprojection_error_px": 194.81518871824966,
"confidence": 0.4335893972242066
},
{
"marker_id": 214,
"observed_center_px": [
3507.5,
2488.5
],
"projected_center_px": [
3634.7958984375,
2312.680419921875
],
"reprojection_error_px": 217.06397789098614,
"confidence": 0.08739438130723556
},
{
"marker_id": 210,
"observed_center_px": [
1204.25,
2411.0
],
"projected_center_px": [
1112.6046142578125,
2289.2822265625
],
"reprojection_error_px": 152.36171795571525,
"confidence": 0.46907631473671096
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,369 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:44Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "d",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 9,
"used_marker_ids": [
208,
69,
51,
103,
58,
214,
64,
211,
72
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17
],
"rms": [
0.2587766626710744,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.23165522769453625,
0.2182243375212177,
0.06420608057472679,
0.05419200832531279,
0.054124926786037746,
0.05412378018560424,
0.05412376688491404,
0.05412376676818678
],
"lambda": [
0.001,
0.0005,
0.001,
0.002,
0.004,
0.008,
0.016,
0.032,
0.064,
0.128,
0.256,
0.128,
0.064,
0.032,
0.016,
0.008,
0.004,
0.002
]
},
"residual_rms_px": 154.5462686368348,
"residual_median_px": 95.9498680384591,
"residual_max_px": 331.0809293576239,
"sigma2_normalized": 0.004394073193652295
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.5639353394508362,
0.8205621838569641,
-0.09303057193756104
],
[
-0.458917498588562,
0.21773427724838257,
-0.8613864183425903
],
[
-0.6865651607513428,
0.5284595489501953,
0.4993583858013153
]
],
"translation_m": [
0.20039743185043335,
0.41232791543006897,
0.5130147933959961
],
"rvec_rad": [
1.0035685691469114,
0.42857457695066886,
-0.9238761711733053
]
},
"camera_in_world": {
"position_m": [
0.4284313917160034,
-0.5253240466117859,
0.11763852834701538
],
"position_mm": [
428.431396484375,
-525.3240356445312,
117.6385269165039
],
"orientation_deg": {
"roll": 46.62181091308594,
"pitch": 43.358821868896484,
"yaw": -39.13789367675781
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.007500581584893333,
0.0021272336955249563,
-0.0019453852229354036,
0.00030340138758466946,
-0.0011508344427960842,
0.001001723247651806
],
[
0.002127233695524955,
0.0012480616379284704,
-0.0007490644131649635,
0.00023420013001865627,
-0.0002605472214753502,
0.00047168608424972815
],
[
-0.0019453852229353993,
-0.0007490644131649597,
0.0035275327174978063,
-0.0006588016804236165,
-3.9254797815826316e-05,
-0.0005262899943523483
],
[
0.0003034013875846691,
0.0002342001300186558,
-0.0006588016804236175,
0.0002718366098864043,
0.00011558500697231351,
0.00021089817922010173
],
[
-0.0011508344427960842,
-0.0002605472214753503,
-3.925479781582551e-05,
0.000115585006972313,
0.0003587506607315252,
-1.61820933740729e-05
],
[
0.0010017232476518046,
0.0004716860842497279,
-0.000526289994352349,
0.00021089817922010157,
-1.6182093374072534e-05,
0.0002989067222265061
]
],
"parameter_std": {
"rvec_std_deg": [
4.9621524418007334,
2.024140476893252,
3.402970291506522
],
"tvec_std_m": [
0.016487468267942302,
0.01894071436698007,
0.0172889190589379
]
},
"camera_center_std_m": [
0.028005327540231804,
0.022929426987153452,
0.04276069023992648
],
"camera_center_std_mm": [
28.005327540231804,
22.92942698715345,
42.760690239926475
],
"orientation_std_deg": {
"roll": 5.693214099430176,
"pitch": 3.4799147133437733,
"yaw": 3.574484131605504
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
3396.5,
2920.25
],
"projected_center_px": [
3595.17529296875,
2855.379638671875
],
"reprojection_error_px": 208.99769332473537,
"confidence": 0.6314079334431163
},
{
"marker_id": 69,
"observed_center_px": [
429.5,
2970.25
],
"projected_center_px": [
583.85986328125,
2956.5146484375
],
"reprojection_error_px": 154.96976245304006,
"confidence": 0.8040999219130639
},
{
"marker_id": 51,
"observed_center_px": [
1878.5,
2978.75
],
"projected_center_px": [
1786.4542236328125,
3005.841552734375
],
"reprojection_error_px": 95.9498680384591,
"confidence": 0.8862418603164292
},
{
"marker_id": 103,
"observed_center_px": [
1453.5,
2900.25
],
"projected_center_px": [
1382.516845703125,
2919.47705078125
],
"reprojection_error_px": 73.54106115415203,
"confidence": 0.959533344033848
},
{
"marker_id": 58,
"observed_center_px": [
1002.5,
2877.0
],
"projected_center_px": [
1018.5839233398438,
2890.5986328125
],
"reprojection_error_px": 21.062179478182504,
"confidence": 0.9065874262743316
},
{
"marker_id": 214,
"observed_center_px": [
3669.5,
2698.0
],
"projected_center_px": [
3631.5634765625,
2636.028076171875
],
"reprojection_error_px": 72.6615383368871,
"confidence": 0.5709725711465045
},
{
"marker_id": 64,
"observed_center_px": [
811.5,
2673.25
],
"projected_center_px": [
896.0513305664062,
2736.301513671875
],
"reprojection_error_px": 105.472370205966,
"confidence": 0.7081872094125122
},
{
"marker_id": 211,
"observed_center_px": [
3032.5,
2526.5
],
"projected_center_px": [
2701.6142578125,
2515.133056640625
],
"reprojection_error_px": 331.0809293576239,
"confidence": 0.2773221989888009
},
{
"marker_id": 72,
"observed_center_px": [
4780.0,
2538.0
],
"projected_center_px": [
4803.328125,
2613.127197265625
],
"reprojection_error_px": 78.66573069007723,
"confidence": 0.10116326419487019
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,609 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:44Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "e",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 24,
"used_marker_ids": [
85,
206,
54,
97,
62,
96,
55,
66,
208,
79,
95,
214,
53,
215,
72,
51,
211,
86,
103,
60,
69,
84,
58,
64
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27
],
"rms": [
0.35421553530940286,
0.1841731718117656,
0.1841731718117656,
0.1841731718117656,
0.1841731718117656,
0.1841731718117656,
0.1841731718117656,
0.1841731718117656,
0.1776000044787138,
0.1776000044787138,
0.1776000044787138,
0.1776000044787138,
0.1776000044787138,
0.17318965187970076,
0.13799417494308974,
0.13799417494308974,
0.13188857221703137,
0.09514612015576934,
0.09445541024509109,
0.0944430186722391,
0.09444126321698174,
0.09444100544639468,
0.09444096887026343,
0.09444096378638157,
0.09444096308783631,
0.09444096299250258,
0.09444096297956654,
0.09444096297782656
],
"lambda": [
0.001,
0.0005,
0.001,
0.002,
0.004,
0.008,
0.016,
0.032,
0.016,
0.032,
0.064,
0.128,
0.256,
0.128,
0.064,
0.128,
0.064,
0.032,
0.016,
0.008,
0.004,
0.002,
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 278.38653608601976,
"residual_median_px": 214.7895131420267,
"residual_max_px": 692.4980566448528,
"sigma2_normalized": 0.010193251986441106
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8847050666809082,
0.35868024826049805,
-0.297733873128891
],
[
0.46117904782295227,
-0.766514778137207,
0.44695520401000977
],
[
-0.06790341436862946,
-0.5327321290969849,
-0.8435553312301636
]
],
"translation_m": [
0.320827454328537,
0.23338381946086884,
0.5580925345420837
],
"rvec_rad": [
3.556385445991994,
0.8343128148489123,
-0.37208320521339644
]
},
"camera_in_world": {
"position_m": [
-0.3535730242729187,
0.361131489276886,
0.46199101209640503
],
"position_mm": [
-353.5730285644531,
361.1315002441406,
461.9909973144531
],
"orientation_deg": {
"roll": -147.7262725830078,
"pitch": 3.8935751914978027,
"yaw": 27.532127380371094
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.012096804217917914,
-0.01566868940443754,
-0.0018796445998094495,
-0.0021737689464393336,
0.0032235628788038198,
0.0005775553698109039
],
[
-0.015668689404437424,
0.027101872984903675,
0.009049413506776016,
0.003685137372290808,
-0.004724261272223774,
-0.0020728125369333292
],
[
-0.0018796445998091012,
0.009049413506775779,
0.02136492739511884,
-5.116836424106192e-06,
-0.0013962210421004596,
-0.0050353860631189495
],
[
-0.002173768946439355,
0.0036851373722908334,
-5.1168364241090215e-06,
0.0013144594686210116,
-0.0003091373722750404,
0.0004865753949847625
],
[
0.0032235628788037894,
-0.004724261272223769,
-0.001396221042100546,
-0.00030913737227503097,
0.0012173042762124503,
0.0005999121033521571
],
[
0.0005775553698108094,
-0.0020728125369332637,
-0.005035386063118978,
0.0004865753949847652,
0.0005999121033521342,
0.0015696137060411527
]
],
"parameter_std": {
"rvec_std_deg": [
6.301703396815006,
9.432401641790575,
8.374778762465072
],
"tvec_std_m": [
0.03625547501579605,
0.034889887879046705,
0.03961835062242183
]
},
"camera_center_std_m": [
0.05552550287719809,
0.1067351217313285,
0.0722158073976939
],
"camera_center_std_mm": [
55.525502877198086,
106.7351217313285,
72.2158073976939
],
"orientation_std_deg": {
"roll": 3.627131391594632,
"pitch": 4.592448804859411,
"yaw": 5.676026627433262
}
}
},
"observations": {
"markers": [
{
"marker_id": 85,
"observed_center_px": [
2582.0,
2800.5
],
"projected_center_px": [
2579.03271484375,
2727.370361328125
],
"reprojection_error_px": 73.18981372757753,
"confidence": 0.830722864408739
},
{
"marker_id": 206,
"observed_center_px": [
4674.5,
2423.75
],
"projected_center_px": [
4157.99169921875,
2885.02294921875
],
"reprojection_error_px": 692.4980566448528,
"confidence": 0.6816421753289754
},
{
"marker_id": 54,
"observed_center_px": [
1853.5,
2494.5
],
"projected_center_px": [
2118.338134765625,
2478.663330078125
],
"reprojection_error_px": 265.3112092248455,
"confidence": 0.706911989905173
},
{
"marker_id": 97,
"observed_center_px": [
1575.75,
2468.25
],
"projected_center_px": [
1967.7918701171875,
2446.45849609375
],
"reprojection_error_px": 392.6470394227847,
"confidence": 0.6100075166002975
},
{
"marker_id": 62,
"observed_center_px": [
2825.5,
2382.0
],
"projected_center_px": [
2649.7236328125,
2425.210693359375
],
"reprojection_error_px": 181.00965521825836,
"confidence": 0.8964175171911046
},
{
"marker_id": 96,
"observed_center_px": [
2640.0,
2338.5
],
"projected_center_px": [
2518.097900390625,
2375.6015625
],
"reprojection_error_px": 127.42310555435145,
"confidence": 0.8729601265234885
},
{
"marker_id": 55,
"observed_center_px": [
1988.25,
2298.75
],
"projected_center_px": [
2104.5048828125,
2314.049560546875
],
"reprojection_error_px": 117.257299690363,
"confidence": 0.7256335338932984
},
{
"marker_id": 66,
"observed_center_px": [
1267.75,
2310.75
],
"projected_center_px": [
1730.6458740234375,
2304.5771484375
],
"reprojection_error_px": 462.9370305822756,
"confidence": 0.5957417229180119
},
{
"marker_id": 208,
"observed_center_px": [
2975.75,
2043.5
],
"projected_center_px": [
2775.271484375,
2333.43408203125
],
"reprojection_error_px": 352.495967566307,
"confidence": 0.912779868094979
},
{
"marker_id": 79,
"observed_center_px": [
2548.5,
2213.25
],
"projected_center_px": [
2420.62890625,
2240.272216796875
],
"reprojection_error_px": 130.69512927970422,
"confidence": 0.8352286702826001
},
{
"marker_id": 95,
"observed_center_px": [
1631.0,
2164.5
],
"projected_center_px": [
1826.35546875,
2168.25732421875
],
"reprojection_error_px": 195.391598222178,
"confidence": 0.6612253661811753
},
{
"marker_id": 214,
"observed_center_px": [
3284.75,
1956.75
],
"projected_center_px": [
3044.05419921875,
2219.34619140625
],
"reprojection_error_px": 356.2179504949113,
"confidence": 0.9797640575954614
},
{
"marker_id": 53,
"observed_center_px": [
4589.5,
2038.5
],
"projected_center_px": [
4559.99853515625,
2002.352294921875
],
"reprojection_error_px": 46.658257686524486,
"confidence": 0.7042792778574221
},
{
"marker_id": 215,
"observed_center_px": [
2619.0,
1912.5
],
"projected_center_px": [
2451.06298828125,
2136.522705078125
],
"reprojection_error_px": 279.98037841167394,
"confidence": 0.6078815585179969
},
{
"marker_id": 72,
"observed_center_px": [
4338.5,
1999.5
],
"projected_center_px": [
4244.1337890625,
1925.255126953125
],
"reprojection_error_px": 120.07199065746903,
"confidence": 0.7344088211475938
},
{
"marker_id": 51,
"observed_center_px": [
2025.0,
2028.25
],
"projected_center_px": [
1976.9925537109375,
2004.4039306640625
],
"reprojection_error_px": 53.60363720841674,
"confidence": 0.7465768555836464
},
{
"marker_id": 211,
"observed_center_px": [
2924.0,
1835.5
],
"projected_center_px": [
2691.20654296875,
2008.4884033203125
],
"reprojection_error_px": 290.03065582774445,
"confidence": 0.9078841157530049
},
{
"marker_id": 86,
"observed_center_px": [
4307.25,
1818.5
],
"projected_center_px": [
4485.0908203125,
1464.370361328125
],
"reprojection_error_px": 396.2766184817061,
"confidence": 0.7257463181991523
},
{
"marker_id": 103,
"observed_center_px": [
1781.25,
1966.25
],
"projected_center_px": [
1773.9468994140625,
1921.5496826171875
],
"reprojection_error_px": 45.292975750026514,
"confidence": 0.6792469257311192
},
{
"marker_id": 60,
"observed_center_px": [
4576.0,
1905.0
],
"projected_center_px": [
4790.765625,
1686.0087890625
],
"reprojection_error_px": 306.7269537381957,
"confidence": 0.7138902809089579
},
{
"marker_id": 69,
"observed_center_px": [
1128.25,
1939.25
],
"projected_center_px": [
1362.987548828125,
1896.143798828125
],
"reprojection_error_px": 238.66265189448166,
"confidence": 0.5690850340166074
},
{
"marker_id": 84,
"observed_center_px": [
4390.75,
1897.5
],
"projected_center_px": [
4482.31982421875,
1681.9571533203125
],
"reprojection_error_px": 234.18742806187535,
"confidence": 0.7264463218220443
},
{
"marker_id": 58,
"observed_center_px": [
1505.25,
1929.25
],
"projected_center_px": [
1570.3603515625,
1874.1708984375
],
"reprojection_error_px": 85.28226843561642,
"confidence": 0.6283642518334334
},
{
"marker_id": 64,
"observed_center_px": [
1448.25,
1823.75
],
"projected_center_px": [
1430.6285400390625,
1711.8974609375
],
"reprojection_error_px": 113.23209061870672,
"confidence": 0.5689727031333272
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,627 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:45Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 30,
"used_marker_ids": [
68,
46,
208,
62,
56,
54,
47,
97,
96,
53,
72,
55,
79,
84,
66,
95,
103,
82,
73,
58,
210,
69,
211,
52,
64,
101,
81,
83,
75,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5
],
"rms": [
0.09977649187186353,
0.03441444627218159,
0.0257326434322241,
0.02571489269823018,
0.02571488791422037,
0.02571488791042679
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 78.63795438772483,
"residual_median_px": 64.9780643231663,
"residual_max_px": 149.67240761027298,
"sigma2_normalized": 0.0007347282891617996
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3610435128211975,
0.9257042407989502,
-0.11277977377176285
],
[
0.9317035675048828,
-0.3632170557975769,
0.0013652361230924726
],
[
-0.0396997332572937,
-0.1055702194571495,
-0.9936190843582153
]
],
"translation_m": [
0.5550765991210938,
0.05044182389974594,
0.4798397123813629
],
"rvec_rad": [
2.6444819980981755,
1.8072475670496018,
-0.14836172087686003
]
},
"camera_in_world": {
"position_m": [
-0.22835412621498108,
-0.4448586106300354,
0.5393104553222656
],
"position_mm": [
-228.3541259765625,
-444.8586120605469,
539.3104248046875
],
"orientation_deg": {
"roll": -173.93516540527344,
"pitch": 2.2752249240875244,
"yaw": 68.81819915771484
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00041783247355007923,
-0.00017322947127762714,
-8.506898938020509e-05,
-8.694059470140323e-06,
7.240361176535996e-05,
3.590274098670164e-05
],
[
-0.00017322947127762704,
0.0001358148282977021,
2.607769330448874e-05,
1.8224450668647024e-05,
-2.6338837843777624e-05,
-1.0293801691379705e-05
],
[
-8.50689893802057e-05,
2.6077693304488812e-05,
0.0002996113507748175,
-6.098489654192003e-05,
-3.989919009272394e-05,
-0.00010125017741835667
],
[
-8.694059470140128e-06,
1.8224450668646932e-05,
-6.098489654191995e-05,
4.898461187269735e-05,
1.5133608158676236e-05,
3.949526344536263e-05
],
[
7.240361176535985e-05,
-2.6338837843777573e-05,
-3.9899190092723875e-05,
1.5133608158676236e-05,
2.501534653230182e-05,
2.2220612023276528e-05
],
[
3.5902740986701884e-05,
-1.0293801691379785e-05,
-0.00010125017741835668,
3.949526344536266e-05,
2.222061202327656e-05,
4.812340411977601e-05
]
],
"parameter_std": {
"rvec_std_deg": [
1.1711802155993392,
0.6677228322900537,
0.9917489827870594
],
"tvec_std_m": [
0.0069989007617409,
0.005001534417786387,
0.006937103438739833
]
},
"camera_center_std_m": [
0.011805861820575407,
0.011100982568584163,
0.012927212408684233
],
"camera_center_std_mm": [
11.805861820575407,
11.100982568584163,
12.927212408684232
],
"orientation_std_deg": {
"roll": 0.8201387457397827,
"pitch": 0.550954471516769,
"yaw": 0.6866860356398392
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
4728.0,
2998.5
],
"projected_center_px": [
4681.00634765625,
3064.134033203125
],
"reprojection_error_px": 80.72316690463869,
"confidence": 0.653373346866503
},
{
"marker_id": 46,
"observed_center_px": [
4722.75,
2803.5
],
"projected_center_px": [
4683.22998046875,
2872.177734375
],
"reprojection_error_px": 79.23675373608789,
"confidence": 0.662621522481087
},
{
"marker_id": 208,
"observed_center_px": [
3181.75,
2352.25
],
"projected_center_px": [
3237.5087890625,
2477.8447265625
],
"reprojection_error_px": 137.41571197656225,
"confidence": 0.5606844675306786
},
{
"marker_id": 62,
"observed_center_px": [
2872.75,
2749.25
],
"projected_center_px": [
2848.761962890625,
2709.078857421875
],
"reprojection_error_px": 46.78831713572096,
"confidence": 0.8299548146817791
},
{
"marker_id": 56,
"observed_center_px": [
4576.75,
2654.25
],
"projected_center_px": [
4530.8759765625,
2715.22314453125
],
"reprojection_error_px": 76.30301684974849,
"confidence": 0.5155537754233994
},
{
"marker_id": 54,
"observed_center_px": [
2069.0,
2700.5
],
"projected_center_px": [
2142.3623046875,
2624.306396484375
],
"reprojection_error_px": 105.7709457542942,
"confidence": 0.9971270798697285
},
{
"marker_id": 47,
"observed_center_px": [
2272.5,
2642.25
],
"projected_center_px": [
2313.68310546875,
2582.2177734375
],
"reprojection_error_px": 72.80052473781708,
"confidence": 0.9865054053096205
},
{
"marker_id": 97,
"observed_center_px": [
1881.75,
2571.25
],
"projected_center_px": [
1977.7232666015625,
2501.825927734375
],
"reprojection_error_px": 118.45070583207732,
"confidence": 0.9786405721047328
},
{
"marker_id": 96,
"observed_center_px": [
2765.75,
2606.0
],
"projected_center_px": [
2747.542236328125,
2573.265625
],
"reprojection_error_px": 37.45746874218113,
"confidence": 0.9783821125205053
},
{
"marker_id": 53,
"observed_center_px": [
4745.5,
2531.75
],
"projected_center_px": [
4718.59765625,
2601.882080078125
],
"reprojection_error_px": 75.11487705726277,
"confidence": 0.6451704770470214
},
{
"marker_id": 72,
"observed_center_px": [
4581.75,
2354.75
],
"projected_center_px": [
4546.70458984375,
2414.566162109375
],
"reprojection_error_px": 69.32643090852737,
"confidence": 0.4950851194720448
},
{
"marker_id": 55,
"observed_center_px": [
2292.0,
2333.0
],
"projected_center_px": [
2315.343505859375,
2302.958984375
],
"reprojection_error_px": 38.04447247088819,
"confidence": 0.9808939319791888
},
{
"marker_id": 79,
"observed_center_px": [
2799.0,
2306.25
],
"projected_center_px": [
2767.9345703125,
2296.331787109375
],
"reprojection_error_px": 32.61030310519616,
"confidence": 0.9779942196252901
},
{
"marker_id": 84,
"observed_center_px": [
4798.5,
2111.25
],
"projected_center_px": [
4795.4423828125,
2172.024169921875
],
"reprojection_error_px": 60.85103739919502,
"confidence": 0.259708253209444
},
{
"marker_id": 66,
"observed_center_px": [
1733.5,
2152.75
],
"projected_center_px": [
1828.5633544921875,
2122.84130859375
],
"reprojection_error_px": 99.65726862071627,
"confidence": 0.9617963673507701
},
{
"marker_id": 95,
"observed_center_px": [
2099.25,
1920.0
],
"projected_center_px": [
2126.27001953125,
1916.29931640625
],
"reprojection_error_px": 27.272266398856218,
"confidence": 0.9803578044552508
},
{
"marker_id": 103,
"observed_center_px": [
2364.5,
1455.5
],
"projected_center_px": [
2337.180419921875,
1474.617431640625
],
"reprojection_error_px": 33.344199618210276,
"confidence": 0.9596447006808903
},
{
"marker_id": 82,
"observed_center_px": [
4620.5,
1255.75
],
"projected_center_px": [
4628.61865234375,
1246.65478515625
],
"reprojection_error_px": 12.191613877278419,
"confidence": 0.3672861068098287
},
{
"marker_id": 73,
"observed_center_px": [
4775.0,
1217.25
],
"projected_center_px": [
4808.8916015625,
1200.9119873046875
],
"reprojection_error_px": 37.62407892963554,
"confidence": 0.4790211092271159
},
{
"marker_id": 58,
"observed_center_px": [
2154.0,
1267.0
],
"projected_center_px": [
2137.92724609375,
1291.25244140625
],
"reprojection_error_px": 29.094919355352477,
"confidence": 0.9394018334399358
},
{
"marker_id": 210,
"observed_center_px": [
2967.0,
831.75
],
"projected_center_px": [
2981.57568359375,
897.20751953125
],
"reprojection_error_px": 67.06069948493743,
"confidence": 0.9598718799626959
},
{
"marker_id": 69,
"observed_center_px": [
1822.25,
1179.0
],
"projected_center_px": [
1840.85498046875,
1209.6717529296875
],
"reprojection_error_px": 35.87341252267984,
"confidence": 0.9446238077555627
},
{
"marker_id": 211,
"observed_center_px": [
3369.75,
1790.5
],
"projected_center_px": [
3422.71484375,
1911.974853515625
],
"reprojection_error_px": 132.51948803894643,
"confidence": 0.8709616724871165
},
{
"marker_id": 52,
"observed_center_px": [
4034.75,
870.75
],
"projected_center_px": [
3984.886474609375,
833.7913818359375
],
"reprojection_error_px": 62.06698495157047,
"confidence": 0.2578089433966355
},
{
"marker_id": 64,
"observed_center_px": [
2183.75,
936.5
],
"projected_center_px": [
2145.97705078125,
961.9402465820312
],
"reprojection_error_px": 45.54121033565993,
"confidence": 0.9294275739211677
},
{
"marker_id": 101,
"observed_center_px": [
4447.75,
842.75
],
"projected_center_px": [
4446.37890625,
786.561767578125
],
"reprojection_error_px": 56.204958506931874,
"confidence": 0.39552348167020185
},
{
"marker_id": 81,
"observed_center_px": [
3932.25,
1075.5
],
"projected_center_px": [
3870.96044921875,
1061.378173828125
],
"reprojection_error_px": 62.89542916139516,
"confidence": 0.09076328043723833
},
{
"marker_id": 83,
"observed_center_px": [
4488.25,
500.75
],
"projected_center_px": [
4504.04296875,
388.2335510253906
],
"reprojection_error_px": 113.61940482063066,
"confidence": 0.4341536704843659
},
{
"marker_id": 75,
"observed_center_px": [
3780.5,
416.75
],
"projected_center_px": [
3711.114013671875,
335.9072570800781
],
"reprojection_error_px": 106.5362106588334,
"confidence": 0.4490024138583291
},
{
"marker_id": 61,
"observed_center_px": [
4362.0,
249.25
],
"projected_center_px": [
4364.947265625,
99.60661315917969
],
"reprojection_error_px": 149.67240761027298,
"confidence": 0.35232361994146455
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,640 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:45Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "g",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
540.0
],
[
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": 29,
"used_marker_ids": [
86,
84,
64,
72,
53,
58,
215,
69,
103,
56,
46,
208,
68,
95,
55,
66,
47,
217,
97,
54,
205,
105,
85,
92,
102,
59,
48,
63,
71
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14
],
"rms": [
0.0776297092006204,
0.06485276151223476,
0.060415487296050285,
0.05980535400536679,
0.059737318734318055,
0.05972861076715375,
0.05972702920229116,
0.05972671827180493,
0.05972665590803501,
0.05972664337447,
0.05972664085548064,
0.05972664034952094,
0.05972664024802077,
0.05972664022771319,
0.05972664022367359
],
"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,
4.8828125e-07,
2.44140625e-07,
1.220703125e-07,
6.103515625e-08
]
},
"residual_rms_px": 179.8389666196484,
"residual_median_px": 166.29090328618014,
"residual_max_px": 299.43730578660006,
"sigma2_normalized": 0.003978879808349616
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7055695056915283,
-0.7071357369422913,
-0.046159956604242325
],
[
-0.7086188197135925,
0.7045615315437317,
0.03811051696538925
],
[
0.005573220085352659,
0.05959943309426308,
-0.9982067942619324
]
],
"translation_m": [
0.40876883268356323,
0.6327441334724426,
0.4784339368343353
],
"rvec_rad": [
-1.2154465221944661,
2.926109244224509,
0.08388546000202647
]
},
"camera_in_world": {
"position_m": [
0.7341228127479553,
-0.18526652455329895,
0.47233057022094727
],
"position_mm": [
734.122802734375,
-185.2665252685547,
472.33056640625
],
"orientation_deg": {
"roll": 176.58311462402344,
"pitch": -0.3193236291408539,
"yaw": -134.87644958496094
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.001249327787423398,
3.384135802371831e-05,
0.0017647679216265463,
0.00022584717402018476,
-0.00013028018667401062,
0.00026058645758464567
],
[
3.384135802371766e-05,
0.0011690607779496123,
-0.0005388354608685641,
9.438245162158601e-05,
-2.868275974664421e-05,
-0.00023153464467068932
],
[
0.0017647679216265797,
-0.0005388354608685684,
0.007187829319912848,
6.0956918728023803e-05,
-7.93246829017981e-05,
0.0009900181757704317
],
[
0.00022584717402018357,
9.43824516215864e-05,
6.0956918728016634e-05,
0.00010853328611897771,
-1.1446016182025296e-05,
4.400786138297762e-05
],
[
-0.0001302801866740095,
-2.8682759746644568e-05,
-7.932468290179238e-05,
-1.1446016182025267e-05,
6.998103578696109e-05,
3.1422979696830624e-05
],
[
0.00026058645758465033,
-0.00023153464467069005,
0.0009900181757704321,
4.400786138297862e-05,
3.142297969682983e-05,
0.0002517719291487041
]
],
"parameter_std": {
"rvec_std_deg": [
2.0251669545495883,
1.9590304095145274,
4.857597321126
],
"tvec_std_m": [
0.010417930990315578,
0.008365466860071892,
0.01586732268370137
]
},
"camera_center_std_m": [
0.020796924567248742,
0.033537699906886265,
0.026044557754438636
],
"camera_center_std_mm": [
20.79692456724874,
33.53769990688627,
26.044557754438635
],
"orientation_std_deg": {
"roll": 2.2574556985639735,
"pitch": 2.43066447389732,
"yaw": 1.7138859764725576
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
252.25,
3045.25
],
"projected_center_px": [
520.02001953125,
3026.439697265625
],
"reprojection_error_px": 268.4298993195893,
"confidence": 0.8583016244932863
},
{
"marker_id": 84,
"observed_center_px": [
251.0,
2788.75
],
"projected_center_px": [
489.8646240234375,
2797.152587890625
],
"reprojection_error_px": 239.01236807562455,
"confidence": 0.8595842805370787
},
{
"marker_id": 64,
"observed_center_px": [
3135.5,
2731.0
],
"projected_center_px": [
2978.087646484375,
2880.15673828125
],
"reprojection_error_px": 216.85567000664153,
"confidence": 0.9504928988896311
},
{
"marker_id": 72,
"observed_center_px": [
392.75,
2479.5
],
"projected_center_px": [
571.7261962890625,
2514.645263671875
],
"reprojection_error_px": 182.39426634811372,
"confidence": 0.7836711964663502
},
{
"marker_id": 53,
"observed_center_px": [
200.75,
2395.25
],
"projected_center_px": [
400.8844299316406,
2425.66748046875
],
"reprojection_error_px": 202.43273737745474,
"confidence": 0.8453938103482975
},
{
"marker_id": 58,
"observed_center_px": [
2988.5,
2413.25
],
"projected_center_px": [
2865.87451171875,
2559.836181640625
],
"reprojection_error_px": 191.11389019166893,
"confidence": 0.9481240414859372
},
{
"marker_id": 215,
"observed_center_px": [
1931.0,
2152.0
],
"projected_center_px": [
1968.533935546875,
2401.019775390625
],
"reprojection_error_px": 251.83257305843955,
"confidence": 0.16398645573237058
},
{
"marker_id": 69,
"observed_center_px": [
3325.0,
2350.25
],
"projected_center_px": [
3188.521240234375,
2510.290771484375
],
"reprojection_error_px": 210.3318815692883,
"confidence": 0.9347927645980462
},
{
"marker_id": 103,
"observed_center_px": [
2710.25,
2335.75
],
"projected_center_px": [
2611.3037109375,
2469.39990234375
],
"reprojection_error_px": 166.29090328618014,
"confidence": 0.9797976608672696
},
{
"marker_id": 56,
"observed_center_px": [
324.5,
2225.25
],
"projected_center_px": [
484.3393249511719,
2263.43115234375
],
"reprojection_error_px": 164.33627169661287,
"confidence": 0.6389815530751166
},
{
"marker_id": 46,
"observed_center_px": [
160.0,
2162.0
],
"projected_center_px": [
335.99749755859375,
2193.8994140625
],
"reprojection_error_px": 178.86500989410433,
"confidence": 0.7123620522027398
},
{
"marker_id": 208,
"observed_center_px": [
1624.25,
1854.5
],
"projected_center_px": [
1669.8116455078125,
2062.97607421875
],
"reprojection_error_px": 213.39666600732386,
"confidence": 0.6740590948858457
},
{
"marker_id": 68,
"observed_center_px": [
113.0,
2009.0
],
"projected_center_px": [
275.1778564453125,
2037.1356201171875
],
"reprojection_error_px": 164.60033487382424,
"confidence": 0.4383567508990357
},
{
"marker_id": 95,
"observed_center_px": [
2720.75,
1844.25
],
"projected_center_px": [
2647.33154296875,
1947.5390625
],
"reprojection_error_px": 126.72371626881217,
"confidence": 0.9775262615581529
},
{
"marker_id": 55,
"observed_center_px": [
2383.0,
1602.25
],
"projected_center_px": [
2329.0771484375,
1664.2781982421875
],
"reprojection_error_px": 82.18984911656379,
"confidence": 0.9916671572515677
},
{
"marker_id": 66,
"observed_center_px": [
2913.25,
1529.25
],
"projected_center_px": [
2858.840087890625,
1593.35595703125
],
"reprojection_error_px": 84.08336495789392,
"confidence": 0.9547821516182472
},
{
"marker_id": 47,
"observed_center_px": [
2274.25,
1372.25
],
"projected_center_px": [
2227.66162109375,
1392.6650390625
],
"reprojection_error_px": 50.86502599071115,
"confidence": 0.9711129996809137
},
{
"marker_id": 217,
"observed_center_px": [
773.5,
1028.5
],
"projected_center_px": [
777.8386840820312,
1053.591064453125
],
"reprojection_error_px": 25.463418760145785,
"confidence": 0.49259832113168645
},
{
"marker_id": 97,
"observed_center_px": [
2612.75,
1284.5
],
"projected_center_px": [
2570.515380859375,
1292.982666015625
],
"reprojection_error_px": 43.07805330660018,
"confidence": 0.9755542726930121
},
{
"marker_id": 54,
"observed_center_px": [
2412.25,
1260.75
],
"projected_center_px": [
2369.1669921875,
1260.5491943359375
],
"reprojection_error_px": 43.083475777688314,
"confidence": 0.8311130660813912
},
{
"marker_id": 205,
"observed_center_px": [
509.75,
773.25
],
"projected_center_px": [
481.9040222167969,
718.7020263671875
],
"reprojection_error_px": 61.244427551807924,
"confidence": 0.45754032819125146
},
{
"marker_id": 105,
"observed_center_px": [
1693.5,
955.75
],
"projected_center_px": [
1645.4046630859375,
869.6981201171875
],
"reprojection_error_px": 98.58036043879721,
"confidence": 0.4488650423931842
},
{
"marker_id": 85,
"observed_center_px": [
1890.5,
890.5
],
"projected_center_px": [
1843.4674072265625,
787.099853515625
],
"reprojection_error_px": 113.59425635120031,
"confidence": 0.46545139722292894
},
{
"marker_id": 92,
"observed_center_px": [
1114.75,
858.5
],
"projected_center_px": [
1063.5130615234375,
740.2687377929688
],
"reprojection_error_px": 128.8559475830232,
"confidence": 0.40814435513261793
},
{
"marker_id": 102,
"observed_center_px": [
1221.25,
753.5
],
"projected_center_px": [
1160.7879638671875,
604.43115234375
],
"reprojection_error_px": 160.86385285354754,
"confidence": 0.6738982847698636
},
{
"marker_id": 59,
"observed_center_px": [
1454.75,
674.75
],
"projected_center_px": [
1391.2188720703125,
501.4601135253906
],
"reprojection_error_px": 184.56865652217692,
"confidence": 0.897953415560873
},
{
"marker_id": 48,
"observed_center_px": [
1415.0,
426.0
],
"projected_center_px": [
1335.4171142578125,
162.4894256591797
],
"reprojection_error_px": 275.2657960816837,
"confidence": 0.9270302907281834
},
{
"marker_id": 63,
"observed_center_px": [
930.0,
416.0
],
"projected_center_px": [
834.969970703125,
151.83602905273438
],
"reprojection_error_px": 280.73708343357976,
"confidence": 0.5933349553673714
},
{
"marker_id": 71,
"observed_center_px": [
1146.25,
369.25
],
"projected_center_px": [
1052.139404296875,
84.98622131347656
],
"reprojection_error_px": 299.43730578660006,
"confidence": 0.8951389773313704
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff