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

257
data/evaluations/Scene7/render_c_camera_pose.json Normal file
View File

@@ -0,0 +1,257 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T18:52:07Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\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": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1777.77783203125,
360.0
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 4,
"used_marker_ids": [
208,
214,
210,
53
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.00815907053784058,
0.00038889026461633554,
8.059741566258575e-05,
8.057603531058918e-05
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 0.20259041142176823,
"residual_median_px": 0.15068860335028333,
"residual_max_px": 0.3306448827815234,
"sigma2_normalized": 2.5969989343700774e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.993758499622345,
0.1115521565079689,
-0.00043949359678663313
],
[
0.03268022835254669,
-0.2948930859565735,
-0.9549712538719177
],
[
-0.1066587045788765,
0.9489964246749878,
-0.29669803380966187
]
],
"translation_m": [
-0.1977902352809906,
0.10628540813922882,
1.004310965538025
],
"rvec_rad": [
1.8698444553315385,
0.1043155347711448,
-0.07745837314462278
]
},
"camera_in_world": {
"position_m": [
0.30020081996917725,
-0.8996807336807251,
0.39938968420028687
],
"position_mm": [
300.2008056640625,
-899.6807250976562,
399.3896789550781
],
"orientation_deg": {
"roll": 107.36153411865234,
"pitch": 6.122739791870117,
"yaw": 1.8835203647613525
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
8.246326043381866e-07,
1.2959856028252544e-07,
1.9490143121569102e-07,
9.573930417634736e-09,
-5.2672319999591544e-08,
5.321782151119725e-08
],
[
1.295985602825249e-07,
3.532319095277726e-07,
-1.0692949930590009e-07,
5.005679212475838e-09,
-5.3080608967819447e-08,
9.967726495155003e-08
],
[
1.9490143121568835e-07,
-1.0692949930589784e-07,
7.262839896596602e-07,
1.9345880069809947e-09,
-9.100117867657551e-08,
-1.834612034473196e-07
],
[
9.57393041763478e-09,
5.005679212475731e-09,
1.9345880069806957e-09,
8.309753146754929e-09,
1.344349962827341e-09,
2.2053170650725068e-08
],
[
-5.2672319999591e-08,
-5.308060896781994e-08,
-9.100117867657526e-08,
1.344349962827285e-09,
3.4310938619868394e-08,
3.7279011506444744e-08
],
[
5.3217821511198174e-08,
9.967726495154872e-08,
-1.8346120344732167e-07,
2.2053170650725124e-08,
3.727901150644531e-08,
2.94676495254624e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.05202988708375333,
0.03405278190727662,
0.048828779353641404
],
"tvec_std_m": [
9.11578474227805e-05,
0.00018523212091823706,
0.0005428411326112126
]
},
"camera_center_std_m": [
0.0007788493900434405,
0.0005268799492092695,
0.0008621405191751387
],
"camera_center_std_mm": [
0.7788493900434406,
0.5268799492092695,
0.8621405191751387
],
"orientation_std_deg": {
"roll": 0.05852006383811758,
"pitch": 0.041075651933117956,
"yaw": 0.03201289781064694
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
922.5,
650.25
],
"projected_center_px": [
922.323486328125,
650.3744506835938
],
"reprojection_error_px": 0.21597464898859506,
"confidence": 0.2964796698261984
},
{
"marker_id": 214,
"observed_center_px": [
916.25,
583.75
],
"projected_center_px": [
916.5070190429688,
583.5419921875
],
"reprojection_error_px": 0.3306448827815234,
"confidence": 0.21966133686197709
},
{
"marker_id": 210,
"observed_center_px": [
314.25,
563.5
],
"projected_center_px": [
314.2375183105469,
563.5274047851562
],
"reprojection_error_px": 0.030113366152997114,
"confidence": 0.233781757000696
},
{
"marker_id": 53,
"observed_center_px": [
1113.0,
491.0
],
"projected_center_px": [
1112.935546875,
491.0560302734375
],
"reprojection_error_px": 0.08540255771197162,
"confidence": 0.12244968744253681
}
]
},
"qa": {
"sanity_notes": []
}
}