ChK/appRobotRender
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Claude: Aufräumen

Browse Source
This commit is contained in:
chk
2026-06-01 21:15:05 +02:00
parent 4b5108aaa8
commit 7b32a50889
146 changed files with 33544 additions and 12331 deletions
Download Patch File Download Diff File Expand all files Collapse all files

414
data/evaluations/Scene5/render_b_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:42:47Z",
"created_utc": "2026-06-01T19:02:39Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -83,156 +83,150 @@
0,
1,
2,
3,
4,
5
3
],
"rms": [
0.019014748761315543,
0.004619788184640585,
0.004538441176855119,
0.004537863788318027,
0.004537858373125672,
0.004537858312023645
0.010788374414626498,
0.0006283868577842543,
0.00010015437449340027,
0.00010012312045103065
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
0.000125
]
},
"residual_rms_px": 10.633457645916426,
"residual_median_px": 9.016718027971324,
"residual_max_px": 22.39722591631947,
"sigma2_normalized": 2.230817122379446e-05
"residual_rms_px": 0.25172161827996986,
"residual_median_px": 0.18693759385431497,
"residual_max_px": 0.5431542525628097,
"sigma2_normalized": 1.0860025851246174e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9995320439338684,
-0.024739401414990425,
0.017991842702031136
0.9999215602874756,
-0.012518510222434998,
0.0004309560463298112
],
[
-0.01416316069662571,
-0.8955954909324646,
-0.44464385509490967
-0.009490192867815495,
-0.7795912027359009,
-0.6262168288230896
],
[
0.02711363509297371,
0.444180965423584,
-0.8955267071723938
0.00817527063190937,
0.6261636018753052,
-0.7796488404273987
]
],
"translation_m": [
-0.31101080775260925,
0.07255169749259949,
1.4765533208847046
-0.3113338351249695,
0.05273256078362465,
1.4961143732070923
],
"rvec_rad": [
2.68068224348394,
-0.027511189328419717,
0.03189778031780517
2.464863487857364,
-0.01524191774975167,
0.005960160508327033
]
},
"camera_in_world": {
"position_m": [
0.2718580961227417,
-0.598574161529541,
1.3601481914520264
0.2995787262916565,
-0.8995999097824097,
1.1995999813079834
],
"position_mm": [
271.85809326171875,
-598.5741577148438,
1360.148193359375
299.5787353515625,
-899.5999145507812,
1199.5999755859375
],
"orientation_deg": {
"roll": 153.61859130859375,
"pitch": -1.5536872148513794,
"yaw": -0.8118149042129517
"roll": 141.23080444335938,
"pitch": -0.46841371059417725,
"yaw": -0.5437742471694946
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00019133657717055122,
-1.0916805209409927e-06,
8.861758548696409e-06,
2.7234100904324163e-06,
1.39023864013734e-05,
4.4073908024237204e-05
5.1223996619942105e-08,
5.436565373815403e-10,
2.663456418502318e-09,
1.0329860552718278e-09,
3.078386141902941e-09,
1.4142279456401988e-08
],
[
-1.0916805209412515e-06,
2.2833577802798103e-05,
-1.5816789589176068e-05,
-2.1844931942382565e-06,
-5.795227126258946e-06,
6.857593537450532e-06
5.436565373815247e-10,
1.1163075057660146e-08,
-7.554998341612341e-09,
-9.552443607937791e-10,
-2.5506221219613407e-09,
4.163590572092998e-09
],
[
8.861758548697637e-06,
-1.581678958917603e-05,
0.00030460889350283763,
2.070341169352513e-05,
-1.7321493479760594e-05,
-0.00010707981029759272
2.663456418502147e-09,
-7.554998341612328e-09,
8.255636663368415e-08,
5.5119910232811535e-09,
-6.826870643038208e-09,
-3.0484897534294594e-08
],
[
2.723410090432499e-06,
-2.1844931942382578e-06,
2.070341169352517e-05,
2.9833009116325044e-06,
-6.33420526642329e-07,
-4.788921674075976e-06
1.0329860552718176e-09,
-9.552443607937785e-10,
5.5119910232811535e-09,
1.1546827745142382e-09,
-2.2881424871401727e-10,
-7.22587431737592e-10
],
[
1.3902386401373393e-05,
-5.795227126258937e-06,
-1.732149347976066e-05,
-6.334205266423318e-07,
5.443286172132083e-06,
9.901129428504407e-06
3.0783861419029624e-09,
-2.5506221219613403e-09,
-6.826870643038182e-09,
-2.2881424871401595e-10,
2.4517455642815944e-09,
3.5314875955708873e-09
],
[
4.40739080242368e-05,
6.857593537450539e-06,
-0.0001070798102975928,
-4.788921674075968e-06,
9.901129428504386e-06,
7.708528147006182e-05
1.4142279456402096e-08,
4.163590572092981e-09,
-3.048489753429441e-08,
-7.225874317375766e-10,
3.531487595570884e-09,
3.081348312908613e-08
]
],
"parameter_std": {
"rvec_std_deg": [
0.7925408068516079,
0.27378497804757806,
0.9999860048326508
0.01296759273639198,
0.0060536116232332285,
0.016462580739937345
],
"tvec_std_m": [
0.001727223468932872,
0.002333085118921314,
0.0087798224053828
3.398062351567785e-05,
4.951510440543971e-05,
0.00017553769717381545
]
},
"camera_center_std_m": [
0.020267484830436125,
0.01943078553031624,
0.014686466065403877
0.0003407588982733064,
0.0002405235424008798,
0.00028986017261716846
],
"camera_center_std_mm": [
20.267484830436125,
19.430785530316243,
14.686466065403877
0.3407588982733064,
0.2405235424008798,
0.28986017261716845
],
"orientation_std_deg": {
"roll": 0.8442655356428828,
"pitch": 0.717094434071231,
"yaw": 0.22985076602033067
"roll": 0.01726739420377664,
"pitch": 0.012353544048253897,
"yaw": 0.005236141764521027
}
}
},
@@ -245,10 +239,10 @@
678.75
],
"projected_center_px": [
1231.3145751953125,
661.8392333984375
1245.9285888671875,
678.5679321289062
],
"reprojection_error_px": 22.39722591631947,
"reprojection_error_px": 0.19557162261988542,
"confidence": 0.1539593300495616
},
{
@@ -258,10 +252,10 @@
665.5
],
"projected_center_px": [
1070.0548095703125,
650.8004150390625
1078.4239501953125,
665.29248046875
],
"reprojection_error_px": 16.829704222078934,
"reprojection_error_px": 0.27078224886331936,
"confidence": 0.39637168760361213
},
{
@@ -271,10 +265,10 @@
635.25
],
"projected_center_px": [
228.30343627929688,
628.4571533203125
220.4341278076172,
635.3922729492188
],
"reprojection_error_px": 10.345838959639192,
"reprojection_error_px": 0.15678245376546215,
"confidence": 0.4633649853376546
},
{
@@ -284,10 +278,10 @@
668.0
],
"projected_center_px": [
316.1379089355469,
658.1041259765625
307.2491760253906,
668.116455078125
],
"reprojection_error_px": 13.301249863615038,
"reprojection_error_px": 0.11645799309303226,
"confidence": 0.3638956157928849
},
{
@@ -297,10 +291,10 @@
622.75
],
"projected_center_px": [
1058.1583251953125,
611.7727661132812
1064.5740966796875,
622.5802612304688
],
"reprojection_error_px": 12.677401276765467,
"reprojection_error_px": 0.18520682444957254,
"confidence": 0.46896024883690896
},
{
@@ -310,10 +304,10 @@
628.0
],
"projected_center_px": [
718.0581665039062,
618.8654174804688
716.9169921875,
628.133056640625
],
"reprojection_error_px": 9.227778573853415,
"reprojection_error_px": 0.2135192270041402,
"confidence": 0.44372569385651617
},
{
@@ -323,10 +317,10 @@
633.0
],
"projected_center_px": [
388.1963195800781,
625.3720092773438
381.98260498046875,
633.0802001953125
],
"reprojection_error_px": 9.82754388458222,
"reprojection_error_px": 0.08206496227170104,
"confidence": 0.45199802144368495
},
{
@@ -336,10 +330,10 @@
615.0
],
"projected_center_px": [
466.4371337890625,
608.1547241210938
461.8410339355469,
614.9932861328125
],
"reprojection_error_px": 8.157570601617609,
"reprojection_error_px": 0.15910778001193557,
"confidence": 0.45199802144368495
},
{
@@ -349,10 +343,10 @@
615.0
],
"projected_center_px": [
760.65966796875,
606.5950317382812
760.3372802734375,
615.1187133789062
],
"reprojection_error_px": 8.414946186703707,
"reprojection_error_px": 0.14734555460774393,
"confidence": 0.44348322079976393
},
{
@@ -362,10 +356,10 @@
598.75
],
"projected_center_px": [
645.6691284179688,
592.2417602539062
643.6570434570312,
598.95068359375
],
"reprojection_error_px": 6.785295754592402,
"reprojection_error_px": 0.22116695883679394,
"confidence": 0.41815762699787656
},
{
@@ -375,10 +369,10 @@
502.0
],
"projected_center_px": [
1178.065185546875,
506.63800048828125
1180.75732421875,
502.1455993652344
],
"reprojection_error_px": 5.48855030072318,
"reprojection_error_px": 0.2830030211180629,
"confidence": 0.3958181457519531
},
{
@@ -388,10 +382,10 @@
503.25
],
"projected_center_px": [
1056.85205078125,
508.3726501464844
1058.0296630859375,
503.39373779296875
],
"reprojection_error_px": 5.24969827057757,
"reprojection_error_px": 0.14676665764015595,
"confidence": 0.4015868133874269
},
{
@@ -401,10 +395,10 @@
508.5
],
"projected_center_px": [
567.444580078125,
515.3764038085938
565.72705078125,
508.4004211425781
],
"reprojection_error_px": 7.146070320048863,
"reprojection_error_px": 0.24792742105640808,
"confidence": 0.38377189776715764
},
{
@@ -414,10 +408,10 @@
441.75
],
"projected_center_px": [
288.16082763671875,
452.01336669921875
291.1782531738281,
441.4239807128906
],
"reprojection_error_px": 10.648830720367961,
"reprojection_error_px": 0.3715679877856875,
"confidence": 0.3320910299473707
},
{
@@ -427,10 +421,10 @@
424.5
],
"projected_center_px": [
1044.544921875,
432.6785583496094
1042.8310546875,
424.42144775390625
],
"reprojection_error_px": 8.323196518034326,
"reprojection_error_px": 0.1863141808400416,
"confidence": 0.3579602826436361
},
{
@@ -440,10 +434,10 @@
423.25
],
"projected_center_px": [
1162.8939208984375,
431.1227722167969
1161.4569091796875,
423.25830078125
],
"reprojection_error_px": 7.92336020576069,
"reprojection_error_px": 0.5431542525628097,
"confidence": 0.343462485354258
},
{
@@ -453,10 +447,10 @@
429.0
],
"projected_center_px": [
566.8086547851562,
438.9588317871094
567.0277099609375,
429.0868835449219
],
"reprojection_error_px": 9.960669834663918,
"reprojection_error_px": 0.09119535247669833,
"confidence": 0.3524419738837484
},
{
@@ -466,10 +460,10 @@
279.5
],
"projected_center_px": [
1260.9298095703125,
282.06109619140625
1251.8382568359375,
279.6079406738281
],
"reprojection_error_px": 9.28981768732198,
"reprojection_error_px": 0.19445318250781718,
"confidence": 0.06057156860351561
},
{
@@ -479,10 +473,10 @@
287.5
],
"projected_center_px": [
1051.9197998046875,
289.9732971191406
1046.06005859375,
287.12738037109375
],
"reprojection_error_px": 6.415701704967858,
"reprojection_error_px": 0.3774286986034038,
"confidence": 0.2459421895345052
},
{
@@ -492,10 +486,10 @@
281.5
],
"projected_center_px": [
1181.4547119140625,
283.9833679199219
1173.4600830078125,
281.3835754394531
],
"reprojection_error_px": 8.572305046978684,
"reprojection_error_px": 0.24018648685985625,
"confidence": 0.24407473894265982
},
{
@@ -505,10 +499,10 @@
291.0
],
"projected_center_px": [
433.3675537109375,
294.8941650390625
441.53662109375,
290.8290710449219
],
"reprojection_error_px": 9.016718027971324,
"reprojection_error_px": 0.1748079294298344,
"confidence": 0.24033422651029265
},
{
@@ -518,10 +512,10 @@
271.5
],
"projected_center_px": [
256.81854248046875,
275.6658630371094
271.7822570800781,
271.46978759765625
],
"reprojection_error_px": 15.50170437408482,
"reprojection_error_px": 0.0441962495077037,
"confidence": 0.23896265492072474
},
{
@@ -531,10 +525,10 @@
285.25
],
"projected_center_px": [
927.7509765625,
288.1630859375
923.9786376953125,
285.0816650390625
],
"reprojection_error_px": 4.749304670336971,
"reprojection_error_px": 0.16968502330904528,
"confidence": 0.24909137483284013
},
{
@@ -544,10 +538,10 @@
273.5
],
"projected_center_px": [
306.0224609375,
277.6189880371094
319.1261291503906,
273.482666015625
],
"reprojection_error_px": 13.854019348182444,
"reprojection_error_px": 0.12507779338180355,
"confidence": 0.23734254719660833
},
{
@@ -557,10 +551,10 @@
273.5
],
"projected_center_px": [
885.1730346679688,
276.4631652832031
882.0449829101562,
273.3497619628906
],
"reprojection_error_px": 4.162268632095655,
"reprojection_error_px": 0.2541721364006649,
"confidence": 0.23734254719660833
},
{
@@ -570,10 +564,10 @@
287.5
],
"projected_center_px": [
844.4288330078125,
290.6997375488281
842.3339233398438,
287.45281982421875
],
"reprojection_error_px": 3.8711282150445343,
"reprojection_error_px": 0.09627614427925126,
"confidence": 0.236365170112023
},
{
@@ -583,10 +577,10 @@
252.25
],
"projected_center_px": [
827.0885009765625,
255.29331970214844
825.06640625,
252.26885986328125
],
"reprojection_error_px": 3.5555422442021585,
"reprojection_error_px": 0.1845599075694663,
"confidence": 0.21925684197423947
},
{
@@ -596,10 +590,10 @@
251.25
],
"projected_center_px": [
923.0028686523438,
254.603271484375
918.6514892578125,
251.72935485839844
],
"reprojection_error_px": 5.614290315630511,
"reprojection_error_px": 0.5027226626110745,
"confidence": 0.21921579106955483
},
{
@@ -609,10 +603,10 @@
228.0
],
"projected_center_px": [
1195.1627197265625,
230.02491760253906
1184.094482421875,
227.8125
],
"reprojection_error_px": 11.344893256036396,
"reprojection_error_px": 0.20995994390208214,
"confidence": 0.22417849731445313
},
{
@@ -622,10 +616,10 @@
259.0
],
"projected_center_px": [
392.7223815917969,
262.7169494628906
403.56524658203125,
258.92913818359375
],
"reprojection_error_px": 11.63718527250569,
"reprojection_error_px": 0.19787678609561232,
"confidence": 0.21217281752366285
},
{
@@ -635,10 +629,10 @@
209.25
],
"projected_center_px": [
862.7577514648438,
211.37908935546875
859.30615234375,
209.13885498046875
],
"reprojection_error_px": 4.103333013866144,
"reprojection_error_px": 0.12452429913563098,
"confidence": 0.19627771759033205
},
{
@@ -648,10 +642,10 @@
169.75
],
"projected_center_px": [
1117.2315673828125,
171.20729064941406
1105.221435546875,
170.17445373535156
],
"reprojection_error_px": 12.318073578167663,
"reprojection_error_px": 0.47874280660258967,
"confidence": 0.20782158780899712
},
{
@@ -661,10 +655,10 @@
183.5
],
"projected_center_px": [
944.41259765625,
184.79647827148438
938.0165405273438,
183.28164672851562
],
"reprojection_error_px": 6.542343969050703,
"reprojection_error_px": 0.21897885791267274,
"confidence": 0.193995418548584
},
{
@@ -674,10 +668,10 @@
162.25
],
"projected_center_px": [
534.602783203125,
163.51803588867188
543.4832763671875,
162.48081970214844
],
"reprojection_error_px": 9.234689499056913,
"reprojection_error_px": 0.352731103250891,
"confidence": 0.1722355942663244
},
{
@@ -687,10 +681,10 @@
172.5
],
"projected_center_px": [
914.4183959960938,
173.80784606933594
908.763671875,
172.59487915039062
],
"reprojection_error_px": 5.817316779204062,
"reprojection_error_px": 0.09585913281927007,
"confidence": 0.1899538473288218
},
{
@@ -700,10 +694,10 @@
159.75
],
"projected_center_px": [
343.40704345703125,
160.58468627929688
361.09503173828125,
159.58901977539062
],
"reprojection_error_px": 17.612745984304475,
"reprojection_error_px": 0.18693759385431497,
"confidence": 0.17676838843571283
},
{
@@ -713,10 +707,10 @@
162.5
],
"projected_center_px": [
271.1806335449219,
163.80271911621094
292.1957092285156,
162.64959716796875
],
"reprojection_error_px": 21.10960160481748,
"reprojection_error_px": 0.15914396165937,
"confidence": 0.1668050360320266
},
{
@@ -726,10 +720,10 @@
170.75
],
"projected_center_px": [
986.7044677734375,
172.1038818359375
978.668212890625,
170.97964477539062
],
"reprojection_error_px": 8.562185547964651,
"reprojection_error_px": 0.4771150225565412,
"confidence": 0.17612778902053833
},
{
@@ -739,10 +733,10 @@
161.75
],
"projected_center_px": [
1070.374267578125,
162.5407257080078
1059.4134521484375,
161.7484588623047
],
"reprojection_error_px": 11.152335015369092,
"reprojection_error_px": 0.163459413721665,
"confidence": 0.17612778902053833
}
]