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

script-arbeit und rendering merge

Browse Source
This commit is contained in:
chk
2026-06-03 07:04:27 +02:00
parent 1b62d5d6fb
commit 9e45340427
4235 changed files with 4094698 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1393
data/camera_study/Scene4/k5_bcdef/aruco_marker_poses.json Normal file
View File

File diff suppressed because it is too large Load Diff

674
data/camera_study/Scene4/k5_bcdef/aruco_positions_initial.json Normal file
View File

@@ -0,0 +1,674 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T22:54:11Z",
"summary": {
"num_cameras": 5,
"num_markers": 30,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.30646773723406184,
-0.8952954576450594,
1.2012608829797486
],
"position_mm": [
306.4677372340618,
-895.2954576450594,
1201.2608829797487
],
"direction": [
0.00400501536205411,
0.6243181228637695,
-0.7811599373817444
]
},
{
"camera_id": "c",
"position_m": [
0.30222042083446865,
-0.9015130863831495,
0.39827613859571753
],
"position_mm": [
302.22042083446865,
-901.5130863831496,
398.27613859571755
],
"direction": [
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
},
{
"camera_id": "d",
"position_m": [
0.7046937746856436,
-0.7914174011623307,
0.3989527588758248
],
"position_mm": [
704.6937746856437,
-791.4174011623307,
398.9527588758248
],
"direction": [
-0.5576696991920471,
0.7805226445198059,
-0.28246936202049255
]
},
{
"camera_id": "e",
"position_m": [
1.2059563341749637,
-0.9025538118437437,
0.4061715893081437
],
"position_mm": [
1205.9563341749638,
-902.5538118437437,
406.17158930814367
],
"direction": [
-0.750444233417511,
0.60433429479599,
-0.2676071226596832
]
},
{
"camera_id": "f",
"position_m": [
0.4848910479147168,
-0.3064199973610857,
1.40194389878924
],
"position_mm": [
484.8910479147168,
-306.41999736108573,
1401.9438987892402
],
"direction": [
-0.22731362283229828,
0.08567609637975693,
-0.9700454473495483
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.29260991488520327,
-0.362217036335718,
0.18952846793469363
],
"position_mm": [
292.6099148852033,
-362.217036335718,
189.52846793469362
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.31707179509844935,
-0.2900198326070108,
0.18846824756295633
],
"position_mm": [
317.07179509844934,
-290.0198326070108,
188.46824756295632
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.6873149931961275,
-0.3186271230120648,
-0.02732199681374294
],
"position_mm": [
687.3149931961275,
-318.6271230120648,
-27.32199681374294
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710606293569248,
0.21025136806439673,
-0.026524156620634374
],
"position_mm": [
571.0606293569248,
210.25136806439673,
-26.524156620634376
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16797314355380552,
-0.17330807005830653,
-0.027679025490441215
],
"position_mm": [
167.97314355380553,
-173.30807005830653,
-27.679025490441216
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04730219629824611,
-0.21640654465955123,
-0.027245793863314424
],
"position_mm": [
47.302196298246116,
-216.40654465955123,
-27.245793863314425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6276443103328568,
-0.2772100308186336,
-0.027108697086914154
],
"position_mm": [
627.6443103328569,
-277.2100308186336,
-27.108697086914155
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.021202819493246525,
0.3320593549210218,
-0.025022778760048794
],
"position_mm": [
-21.202819493246526,
332.0593549210218,
-25.022778760048794
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4015562002827398,
-0.17346661653745038,
-0.027343972385601885
],
"position_mm": [
401.5562002827398,
-173.4666165374504,
-27.343972385601884
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7752842905475349,
-0.23621299064063236,
-0.027949446096684174
],
"position_mm": [
775.2842905475349,
-236.21299064063237,
-27.949446096684174
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01917565320759719,
-0.18904378769683744,
-0.026948624762763468
],
"position_mm": [
-19.17565320759719,
-189.04378769683743,
-26.94862476276347
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005799329380499334,
-0.2774695465887887,
-0.027880965430765778
],
"position_mm": [
5.799329380499334,
-277.4695465887887,
-27.880965430765777
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.311554884488572,
-0.15940299983146633,
-0.027833018154202874
],
"position_mm": [
311.554884488572,
-159.40299983146633,
-27.833018154202875
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.506759142707778,
-0.31498046905385435,
-0.026413328475015995
],
"position_mm": [
506.759142707778,
-314.98046905385434,
-26.413328475015994
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3717652521986212,
-0.18417512346284748,
-0.027882655667711767
],
"position_mm": [
371.7652521986212,
-184.17512346284747,
-27.882655667711767
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6514084070351718,
-0.22409597723542132,
-0.02747363126019338
],
"position_mm": [
651.4084070351718,
-224.09597723542132,
-27.47363126019338
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10473372622929926,
-0.19055968657100034,
-0.027559703258342172
],
"position_mm": [
104.73372622929926,
-190.55968657100033,
-27.55970325834217
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.278591128093189,
-0.23684222292292853,
0.22329870306478627
],
"position_mm": [
278.59112809318896,
-236.84222292292853,
223.29870306478628
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.30988059531989065,
-0.226938330794401,
0.18116972366956288
],
"position_mm": [
309.88059531989063,
-226.938330794401,
181.16972366956287
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28124324375191917,
-0.17137785669337852,
0.2459742682159477
],
"position_mm": [
281.2432437519192,
-171.3778566933785,
245.9742682159477
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 206,
"position_m": [
0.6506767885373685,
-0.00953112923100953,
-0.00022459348455411003
],
"position_mm": [
650.6767885373686,
-9.53112923100953,
-0.22459348455411005
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3525780721541163,
-0.08955048616686932,
9.667284602991047e-05
],
"position_mm": [
352.5780721541163,
-89.55048616686932,
0.09667284602991047
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.022198159025974756,
-0.02065174706594371,
0.0012682406472606855
],
"position_mm": [
22.198159025974757,
-20.65174706594371,
1.2682406472606855
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3479485615784635,
-0.012691850418236597,
0.0015524610712744518
],
"position_mm": [
347.9485615784635,
-12.691850418236598,
1.5524610712744518
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.25047241777236834,
-0.1701860057402171,
0.24236237288465612
],
"position_mm": [
250.47241777236835,
-170.1860057402171,
242.3623728846561
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.253550064614868,
-0.2721393248642031,
0.2064242936189933
],
"position_mm": [
253.550064614868,
-272.1393248642031,
206.42429361899332
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.24305421924242962,
0.051609256475355025,
0.047990556541847564
],
"position_mm": [
243.0542192424296,
51.609256475355025,
47.99055654184756
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.3061753925114399,
-0.05048735239164153,
0.25572509743617433
],
"position_mm": [
306.1753925114399,
-50.48735239164153,
255.72509743617434
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.26968585887163876,
-0.06922587540967794,
0.2857228209980272
],
"position_mm": [
269.68585887163874,
-69.22587540967794,
285.7228209980272
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2314766185707354,
-0.06339277409454731,
0.28779374384890527
],
"position_mm": [
231.4766185707354,
-63.39277409454731,
287.79374384890525
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

673
data/camera_study/Scene4/k5_bcdef/aruco_positions_optimized.json Normal file
View File

@@ -0,0 +1,673 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:54:12Z",
"summary": {
"num_cameras": 5,
"num_markers": 30,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.30646773723406184,
-0.8952954576450594,
1.2012608829797486
],
"position_mm": [
306.4677372340618,
-895.2954576450594,
1201.2608829797487
],
"direction": [
0.00400501536205411,
0.6243181228637695,
-0.7811599373817444
]
},
{
"camera_id": "c",
"position_m": [
0.30222042083446865,
-0.9015130863831495,
0.39827613859571753
],
"position_mm": [
302.22042083446865,
-901.5130863831496,
398.27613859571755
],
"direction": [
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
},
{
"camera_id": "d",
"position_m": [
0.7046937746856436,
-0.7914174011623307,
0.3989527588758248
],
"position_mm": [
704.6937746856437,
-791.4174011623307,
398.9527588758248
],
"direction": [
-0.5576696991920471,
0.7805226445198059,
-0.28246936202049255
]
},
{
"camera_id": "e",
"position_m": [
1.2059563341749637,
-0.9025538118437437,
0.4061715893081437
],
"position_mm": [
1205.9563341749638,
-902.5538118437437,
406.17158930814367
],
"direction": [
-0.750444233417511,
0.60433429479599,
-0.2676071226596832
]
},
{
"camera_id": "f",
"position_m": [
0.4848910479147168,
-0.3064199973610857,
1.40194389878924
],
"position_mm": [
484.8910479147168,
-306.41999736108573,
1401.9438987892402
],
"direction": [
-0.22731362283229828,
0.08567609637975693,
-0.9700454473495483
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.292423902683581,
-0.3622179272337811,
0.18952723588296513
],
"position_mm": [
292.423902683581,
-362.2179272337811,
189.52723588296513
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.32002262110270185,
-0.28971241351099275,
0.18681362438026317
],
"position_mm": [
320.02262110270186,
-289.71241351099275,
186.81362438026318
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.6885296444457507,
-0.32001294710714207,
-0.026285576443648633
],
"position_mm": [
688.5296444457507,
-320.01294710714205,
-26.285576443648633
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710545002010963,
0.21025313973702908,
-0.026524327215974045
],
"position_mm": [
571.0545002010963,
210.25313973702907,
-26.524327215974044
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1678190142678709,
-0.17355010015388794,
-0.027386097538182937
],
"position_mm": [
167.8190142678709,
-173.55010015388794,
-27.386097538182938
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048923551247838495,
-0.2172902630706426,
-0.02650712598211966
],
"position_mm": [
48.923551247838496,
-217.2902630706426,
-26.50712598211966
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6265728421522692,
-0.2772904829036347,
-0.027456389472277003
],
"position_mm": [
626.5728421522691,
-277.2904829036347,
-27.456389472277003
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.02119528716669451,
0.33205853226328474,
-0.02502623078524726
],
"position_mm": [
-21.19528716669451,
332.05853226328475,
-25.02623078524726
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4032812288477795,
-0.17220274362235352,
-0.028209779148554482
],
"position_mm": [
403.2812288477795,
-172.20274362235352,
-28.20977914855448
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7753487754326611,
-0.23612405842245351,
-0.027868632042469747
],
"position_mm": [
775.3487754326611,
-236.12405842245352,
-27.86863204246975
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021977021790081257,
-0.1864683216617902,
-0.029364282844814828
],
"position_mm": [
-21.977021790081256,
-186.46832166179018,
-29.364282844814827
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005106371259816287,
-0.2794635888496086,
-0.027322728752784537
],
"position_mm": [
5.106371259816287,
-279.4635888496086,
-27.32272875278454
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31258853918085805,
-0.15853864162684994,
-0.027851027196526698
],
"position_mm": [
312.58853918085805,
-158.53864162684994,
-27.851027196526697
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5067151453274431,
-0.3150589024959263,
-0.026460911490326578
],
"position_mm": [
506.7151453274431,
-315.05890249592625,
-26.460911490326577
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3696229941395846,
-0.1867456629359282,
-0.025874638484611766
],
"position_mm": [
369.6229941395846,
-186.7456629359282,
-25.874638484611765
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6507385363446415,
-0.22184720960649593,
-0.028651656061001004
],
"position_mm": [
650.7385363446415,
-221.84720960649594,
-28.651656061001002
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10576296558453123,
-0.1892907777127485,
-0.028250766586813178
],
"position_mm": [
105.76296558453123,
-189.29077771274848,
-28.250766586813178
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2811976757054371,
-0.23576437760034077,
0.22102565457435167
],
"position_mm": [
281.19767570543706,
-235.76437760034077,
221.02565457435168
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.31000251898687653,
-0.2278654090490481,
0.1815522295234136
],
"position_mm": [
310.0025189868765,
-227.86540904904808,
181.5522295234136
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28114652054842354,
-0.1698516634362051,
0.24459524342498548
],
"position_mm": [
281.14652054842355,
-169.85166343620511,
244.59524342498548
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 206,
"position_m": [
0.6507336784859382,
-0.009466226449334278,
-0.00015106591424741592
],
"position_mm": [
650.7336784859382,
-9.466226449334277,
-0.15106591424741592
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35275774898131423,
-0.09164343009893555,
0.0016568954603863916
],
"position_mm": [
352.75774898131425,
-91.64343009893555,
1.6568954603863917
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021963158627996394,
-0.01933710895973445,
0.0006809786189573365
],
"position_mm": [
21.963158627996396,
-19.33710895973445,
0.6809786189573365
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34750234502732275,
-0.011818992272181975,
0.0009952638190729732
],
"position_mm": [
347.50234502732275,
-11.818992272181974,
0.9952638190729732
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2544391887921733,
-0.1708023976281821,
0.24273594432673531
],
"position_mm": [
254.4391887921733,
-170.80239762818212,
242.7359443267353
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.25503886013348287,
-0.26991923913792537,
0.20567003677064832
],
"position_mm": [
255.03886013348287,
-269.9192391379254,
205.67003677064832
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.17419177954819098,
-0.01456918751078767,
0.24197624475810248
],
"position_mm": [
174.191779548191,
-14.56918751078767,
241.97624475810247
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.3095449360928377,
-0.05785139719179031,
0.25703319002684477
],
"position_mm": [
309.5449360928377,
-57.85139719179031,
257.03319002684475
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.2697228673774789,
-0.06813025139419837,
0.2845750959580609
],
"position_mm": [
269.7228673774789,
-68.13025139419837,
284.5750959580609
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2325964983033317,
-0.06327485614224543,
0.28665207897054634
],
"position_mm": [
232.5964983033317,
-63.274856142245426,
286.65207897054637
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

2484
data/camera_study/Scene4/k5_bcdef/render_b_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

523
data/camera_study/Scene4/k5_bcdef/render_b_camera_pose.json Normal file
View File

@@ -0,0 +1,523 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:09Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene4\\k5_bcdef\\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": [
[
1994.0294189453125,
0.0,
719.934814453125
],
[
0.0,
1991.6876220703125,
539.2061157226562
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 23,
"used_marker_ids": [
85,
48,
54,
71,
69,
59,
105,
63,
102,
103,
64,
96,
51,
62,
205,
217,
206,
207,
76,
94,
50,
61,
86
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.01324362066806506,
0.0018086250849772174,
0.0013022607858018253,
0.0013022180211013888
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.68313418741189,
"residual_median_px": 3.7394299037901337,
"residual_max_px": 5.233482918232737,
"sigma2_normalized": 1.9501375405959995e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999290704727173,
-0.01126303430646658,
-0.003874987829476595
],
[
-0.011217456310987473,
-0.7810890078544617,
-0.6243189573287964
],
[
0.00400501536205411,
0.6243181228637695,
-0.7811599373817444
]
],
"translation_m": [
-0.3118748664855957,
0.054102275520563126,
1.4960986375808716
],
"rvec_rad": [
2.467268734961557,
-0.0155706456379845,
9.006075334066718e-05
]
},
"camera_in_world": {
"position_m": [
0.306467741727829,
-0.8952954411506653,
1.2012609243392944
],
"position_mm": [
306.4677429199219,
-895.2954711914062,
1201.2608642578125
],
"orientation_deg": {
"roll": 141.36746215820312,
"pitch": -0.22947107255458832,
"yaw": -0.6427314877510071
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.6039758488550844e-05,
-7.168862991012606e-07,
1.196320413588991e-06,
4.5213197110312617e-07,
-2.3563621249212062e-07,
1.661762888992596e-06
],
[
-7.168862991012798e-07,
3.034437622876535e-06,
-1.05368260573141e-06,
2.171687264695621e-07,
-9.297382906465963e-07,
5.517939403866757e-07
],
[
1.196320413589197e-06,
-1.05368260573139e-06,
2.992504291814162e-05,
4.866695803161844e-07,
-3.345195643650993e-06,
-1.0190257584999124e-05
],
[
4.5213197110313104e-07,
2.1716872646956475e-07,
4.866695803161844e-07,
2.732882600827722e-07,
-8.639683736629349e-08,
3.8555291575911944e-07
],
[
-2.3563621249214455e-07,
-9.297382906465994e-07,
-3.3451956436509763e-06,
-8.639683736629215e-08,
9.843901950768523e-07,
1.5179266818755123e-06
],
[
1.6617628889925237e-06,
5.517939403866692e-07,
-1.019025758499913e-05,
3.85552915759121e-07,
1.517926681875519e-06,
7.609045031709997e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.22946769057727817,
0.09980716956758984,
0.31342961078374404
],
"tvec_std_m": [
0.0005227697964522933,
0.0009921643992186237,
0.002758449751528927
]
},
"camera_center_std_m": [
0.006218234347439358,
0.004543144623764037,
0.004170947652370133
],
"camera_center_std_mm": [
6.218234347439358,
4.543144623764037,
4.170947652370133
],
"orientation_std_deg": {
"roll": 0.24444376999029982,
"pitch": 0.23036315843502497,
"yaw": 0.10102504440724586
}
}
},
"observations": {
"markers": [
{
"marker_id": 85,
"observed_center_px": [
1020.0,
1007.75
],
"projected_center_px": [
1015.9654541015625,
1005.8148803710938
],
"reprojection_error_px": 4.4746227309994655,
"confidence": 0.6951715445822307
},
{
"marker_id": 48,
"observed_center_px": [
1293.5,
1011.25
],
"projected_center_px": [
1296.2198486328125,
1014.1315307617188
],
"reprojection_error_px": 3.962423010752823,
"confidence": 0.6785390184142406
},
{
"marker_id": 54,
"observed_center_px": [
769.0,
1030.5
],
"projected_center_px": [
771.960205078125,
1033.818115234375
],
"reprojection_error_px": 4.446650741080133,
"confidence": 0.450998392349139
},
{
"marker_id": 71,
"observed_center_px": [
1379.75,
964.5
],
"projected_center_px": [
1376.693115234375,
962.3866577148438
],
"reprojection_error_px": 3.716283100698822,
"confidence": 0.5439242620910085
},
{
"marker_id": 69,
"observed_center_px": [
270.25,
967.0
],
"projected_center_px": [
271.83697509765625,
971.4892578125
],
"reprojection_error_px": 4.761504559241055,
"confidence": 0.6427031538164533
},
{
"marker_id": 59,
"observed_center_px": [
1193.25,
954.5
],
"projected_center_px": [
1191.2716064453125,
957.0810546875
],
"reprojection_error_px": 3.2520584799623093,
"confidence": 0.6553525014962716
},
{
"marker_id": 105,
"observed_center_px": [
1036.0,
944.75
],
"projected_center_px": [
1038.6568603515625,
941.8314208984375
],
"reprojection_error_px": 3.946772212806584,
"confidence": 0.6218812728138117
},
{
"marker_id": 63,
"observed_center_px": [
1398.25,
899.25
],
"projected_center_px": [
1401.779541015625,
898.2904663085938
],
"reprojection_error_px": 3.6576446910440685,
"confidence": 0.24983668327405417
},
{
"marker_id": 102,
"observed_center_px": [
1215.0,
884.75
],
"projected_center_px": [
1212.339111328125,
883.1528930664062
],
"reprojection_error_px": 3.103397989534364,
"confidence": 0.555129559779815
},
{
"marker_id": 103,
"observed_center_px": [
427.75,
851.75
],
"projected_center_px": [
429.3242492675781,
847.4453125
],
"reprojection_error_px": 4.5835134153972446,
"confidence": 0.5223715864593753
},
{
"marker_id": 64,
"observed_center_px": [
251.0,
852.0
],
"projected_center_px": [
247.82135009765625,
850.440185546875
],
"reprojection_error_px": 3.540739517367463,
"confidence": 0.5007240474925321
},
{
"marker_id": 96,
"observed_center_px": [
808.5,
839.0
],
"projected_center_px": [
805.3910522460938,
841.362548828125
],
"reprojection_error_px": 3.9047654349260887,
"confidence": 0.5229998830159506
},
{
"marker_id": 51,
"observed_center_px": [
519.75,
829.25
],
"projected_center_px": [
519.0291137695312,
826.9443359375
],
"reprojection_error_px": 2.4157325444641935,
"confidence": 0.5295063204309743
},
{
"marker_id": 62,
"observed_center_px": [
850.5,
825.0
],
"projected_center_px": [
854.1998291015625,
826.6820068359375
],
"reprojection_error_px": 4.064219774681145,
"confidence": 0.528147602404417
},
{
"marker_id": 205,
"observed_center_px": [
1332.0,
700.0
],
"projected_center_px": [
1327.967529296875,
699.3744506835938
],
"reprojection_error_px": 4.080702380573443,
"confidence": 0.48645690874990066
},
{
"marker_id": 217,
"observed_center_px": [
1185.0,
700.5
],
"projected_center_px": [
1189.3094482421875,
700.8603515625
],
"reprojection_error_px": 4.324488108515172,
"confidence": 0.47641635964133516
},
{
"marker_id": 206,
"observed_center_px": [
1172.75,
612.25
],
"projected_center_px": [
1172.3157958984375,
611.9349975585938
],
"reprojection_error_px": 0.5364324187682878,
"confidence": 0.3898668411118563
},
{
"marker_id": 207,
"observed_center_px": [
1311.0,
612.75
],
"projected_center_px": [
1306.2926025390625,
610.463134765625
],
"reprojection_error_px": 5.233482918232737,
"confidence": 0.3988910678481489
},
{
"marker_id": 76,
"observed_center_px": [
1177.75,
455.75
],
"projected_center_px": [
1176.4918212890625,
457.1796569824219
],
"reprojection_error_px": 1.9044507754321114,
"confidence": 0.27243947145308567
},
{
"marker_id": 94,
"observed_center_px": [
1405.5,
447.5
],
"projected_center_px": [
1409.1806640625,
448.16033935546875
],
"reprojection_error_px": 3.7394299037901337,
"confidence": 0.1100752638244629
},
{
"marker_id": 50,
"observed_center_px": [
1030.5,
418.5
],
"projected_center_px": [
1032.993408203125,
417.64984130859375
],
"reprojection_error_px": 2.6343603147604218,
"confidence": 0.27377442038329514
},
{
"marker_id": 61,
"observed_center_px": [
329.75,
320.0
],
"projected_center_px": [
329.3233337402344,
318.8132019042969
],
"reprojection_error_px": 1.2611636758117288,
"confidence": 0.20112760305404662
},
{
"marker_id": 86,
"observed_center_px": [
775.25,
347.5
],
"projected_center_px": [
775.9814453125,
350.664306640625
],
"reprojection_error_px": 3.2477451810574203,
"confidence": 0.23620987654320988
}
]
},
"qa": {
"sanity_notes": []
}
}

1614
data/camera_study/Scene4/k5_bcdef/render_c_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

355
data/camera_study/Scene4/k5_bcdef/render_c_camera_pose.json Normal file
View File

@@ -0,0 +1,355 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:10Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene4\\k5_bcdef\\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": [
[
1994.701171875,
0.0,
720.15869140625
],
[
0.0,
1995.5245361328125,
541.232177734375
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 11,
"used_marker_ids": [
58,
96,
62,
64,
103,
51,
79,
208,
215,
210,
50
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.006929395815680354,
0.0017468647358926165,
0.0017346951311210815,
0.0017346950405048665
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 4.909708755527321,
"residual_median_px": 4.136020486761652,
"residual_max_px": 7.135942640317332,
"sigma2_normalized": 4.137604464868956e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9937289953231812,
0.11177419126033783,
-0.003037781920284033
],
[
0.030063454061746597,
-0.2932494282722473,
-0.9555631875991821
],
[
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
],
"translation_m": [
-0.19834941625595093,
0.10712400823831558,
1.005916953086853
],
"rvec_rad": [
1.8679664194000312,
0.10262342865914824,
-0.0801204696112108
]
},
"camera_in_world": {
"position_m": [
0.3022204339504242,
-0.9015130996704102,
0.398276150226593
],
"position_mm": [
302.2204284667969,
-901.5131225585938,
398.2761535644531
],
"orientation_deg": {
"roll": 107.24722290039062,
"pitch": 6.1826395988464355,
"yaw": 1.732850432395935
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.1040133222093424e-05,
6.605551835381518e-06,
1.2833734493644522e-05,
-1.5019663264447036e-07,
-8.283230517583298e-06,
-8.475153962226958e-08
],
[
6.60555183538171e-06,
1.4768873634306313e-05,
-6.748423490485634e-06,
1.8360302310794762e-06,
-1.9859983631412057e-06,
3.872390326969674e-06
],
[
1.2833734493643345e-05,
-6.748423490485672e-06,
4.5602076473498684e-05,
-2.8969402578088533e-06,
-6.232499877096582e-06,
-1.0647912052310688e-05
],
[
-1.5019663264439908e-07,
1.836030231079476e-06,
-2.896940257808845e-06,
6.089439797350288e-07,
1.320253964351089e-07,
9.542983032578097e-07
],
[
-8.283230517583183e-06,
-1.9859983631411667e-06,
-6.232499877096729e-06,
1.320253964351196e-07,
2.586460980943106e-06,
2.2986565759526823e-06
],
[
-8.475153962199919e-08,
3.872390326969724e-06,
-1.0647912052310664e-05,
9.542983032578154e-07,
2.298656575952638e-06,
1.015307435062793e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.4093346716892348,
0.22018935521323865,
0.38691444302445294
],
"tvec_std_m": [
0.0007803486270475708,
0.0016082477983641408,
0.0031863889201771854
]
},
"camera_center_std_m": [
0.005448193930105324,
0.0032421275713110883,
0.00591596302928808
],
"camera_center_std_mm": [
5.448193930105324,
3.242127571311088,
5.91596302928808
],
"orientation_std_deg": {
"roll": 0.37117583231671686,
"pitch": 0.32193383066950226,
"yaw": 0.22513197970365306
}
}
},
"observations": {
"markers": [
{
"marker_id": 58,
"observed_center_px": [
283.0,
1034.0
],
"projected_center_px": [
289.04583740234375,
1036.910400390625
],
"reprojection_error_px": 6.709886759799213,
"confidence": 0.34134185624863755
},
{
"marker_id": 96,
"observed_center_px": [
1097.25,
1039.0
],
"projected_center_px": [
1092.0697021484375,
1040.400634765625
],
"reprojection_error_px": 5.366308188837131,
"confidence": 0.23796567608034963
},
{
"marker_id": 62,
"observed_center_px": [
1171.5,
1028.5
],
"projected_center_px": [
1178.3603515625,
1030.4639892578125
],
"reprojection_error_px": 7.135942640317332,
"confidence": 0.3612787707711435
},
{
"marker_id": 64,
"observed_center_px": [
149.25,
990.0
],
"projected_center_px": [
146.09400939941406,
989.7242431640625
],
"reprojection_error_px": 3.168014915298387,
"confidence": 0.616503916634816
},
{
"marker_id": 103,
"observed_center_px": [
439.25,
1009.25
],
"projected_center_px": [
443.4362487792969,
1005.2944946289062
],
"reprojection_error_px": 5.7594011479420395,
"confidence": 0.5603928511306994
},
{
"marker_id": 51,
"observed_center_px": [
598.75,
996.5
],
"projected_center_px": [
598.4235229492188,
994.0755004882812
],
"reprojection_error_px": 2.4463820525443856,
"confidence": 0.5334935602695114
},
{
"marker_id": 79,
"observed_center_px": [
946.0,
998.75
],
"projected_center_px": [
947.2511596679688,
997.2364501953125
],
"reprojection_error_px": 1.9637294941058563,
"confidence": 0.48423420812018686
},
{
"marker_id": 208,
"observed_center_px": [
1042.5,
867.0
],
"projected_center_px": [
1035.482666015625,
866.5459594726562
],
"reprojection_error_px": 7.032007469331564,
"confidence": 0.3766641825147349
},
{
"marker_id": 215,
"observed_center_px": [
812.25,
854.75
],
"projected_center_px": [
809.5588989257812,
855.7542724609375
],
"reprojection_error_px": 2.8723837082567454,
"confidence": 0.3703387843628071
},
{
"marker_id": 210,
"observed_center_px": [
357.75,
770.0
],
"projected_center_px": [
353.7519226074219,
771.0592651367188
],
"reprojection_error_px": 4.136020486761652,
"confidence": 0.2855056958565939
},
{
"marker_id": 50,
"observed_center_px": [
1401.75,
694.0
],
"projected_center_px": [
1405.2718505859375,
694.3978271484375
],
"reprojection_error_px": 3.5442485789941744,
"confidence": 0.037489248669361035
}
]
},
"qa": {
"sanity_notes": []
}
}

1311
data/camera_study/Scene4/k5_bcdef/render_d_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

313
data/camera_study/Scene4/k5_bcdef/render_d_camera_pose.json Normal file
View File

@@ -0,0 +1,313 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:10Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene4\\k5_bcdef\\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": [
[
1994.6785888671875,
0.0,
720.2863159179688
],
[
0.0,
1997.283935546875,
541.2328491210938
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 8,
"used_marker_ids": [
95,
208,
69,
51,
58,
214,
64,
211
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.010264361105113314,
0.0016375366059525232,
0.0015876744519916668,
0.0015876712874322645
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 4.492767425728052,
"residual_median_px": 3.97366984843817,
"residual_max_px": 7.370531333861345,
"sigma2_normalized": 4.033120185832425e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8138864040374756,
0.5810225009918213,
-0.0013403623597696424
],
[
0.16307486593723297,
-0.23064546287059784,
-0.9592753648757935
],
[
-0.5576696991920471,
0.7805226445198059,
-0.28246936202049255
]
],
"translation_m": [
-0.113174669444561,
0.08525089919567108,
1.1233974695205688
],
"rvec_rad": [
1.7900926997291386,
0.572411911173635,
-0.43002978560655325
]
},
"camera_in_world": {
"position_m": [
0.7046937942504883,
-0.7914173603057861,
0.39895275235176086
],
"position_mm": [
704.6937866210938,
-791.4173583984375,
398.9527587890625
],
"orientation_deg": {
"roll": 109.89506530761719,
"pitch": 33.89479064941406,
"yaw": 11.330074310302734
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00015248822370392831,
3.38127692648544e-05,
2.7736435507614828e-05,
-2.5949632759537185e-06,
-3.115471757430359e-05,
-4.035910937599009e-06
],
[
3.3812769264854664e-05,
5.357131813028437e-05,
-4.406832858768936e-05,
1.102100633224698e-05,
-9.380203116745318e-06,
-1.8785061685561741e-06
],
[
2.7736435507613798e-05,
-4.4068328587689304e-05,
0.00013910923431041796,
-2.0416270669406416e-05,
-5.996717768776931e-06,
1.204623531001723e-06
],
[
-2.594963275953586e-06,
1.1021006332246996e-05,
-2.0416270669406463e-05,
4.11926204613411e-06,
7.936894479667045e-09,
-1.2185101585181153e-06
],
[
-3.115471757430359e-05,
-9.380203116745272e-06,
-5.996717768777105e-06,
7.936894479696871e-09,
7.498755352857809e-06,
3.3696668596013572e-06
],
[
-4.035910937599179e-06,
-1.8785061685562347e-06,
1.204623531001724e-06,
-1.2185101585180842e-06,
3.3696668596013932e-06,
1.371343081717911e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.7075233629197464,
0.41936173327641235,
0.6757726524057567
],
"tvec_std_m": [
0.0020295965229902495,
0.0027383855376586054,
0.0037031649729898763
]
},
"camera_center_std_m": [
0.007680243220935043,
0.008298746901105616,
0.011086215829732952
],
"camera_center_std_mm": [
7.680243220935043,
8.298746901105616,
11.086215829732952
],
"orientation_std_deg": {
"roll": 0.8625064983100529,
"pitch": 0.6034921250743718,
"yaw": 0.5000059449384741
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
421.5,
1048.25
],
"projected_center_px": [
423.1800537109375,
1045.381103515625
],
"reprojection_error_px": 3.3246274241926868,
"confidence": 0.20059440065661768
},
{
"marker_id": 208,
"observed_center_px": [
1003.75,
919.75
],
"projected_center_px": [
998.18896484375,
920.6593017578125
],
"reprojection_error_px": 5.634886129799729,
"confidence": 0.5971711979967728
},
{
"marker_id": 69,
"observed_center_px": [
128.0,
929.75
],
"projected_center_px": [
124.59825134277344,
932.9581298828125
],
"reprojection_error_px": 4.675894702828248,
"confidence": 0.6485521925210277
},
{
"marker_id": 51,
"observed_center_px": [
549.25,
937.25
],
"projected_center_px": [
551.0792236328125,
936.2888793945312
],
"reprojection_error_px": 2.066352321627746,
"confidence": 0.775025713517728
},
{
"marker_id": 58,
"observed_center_px": [
291.75,
903.5
],
"projected_center_px": [
293.9591064453125,
905.5442504882812
],
"reprojection_error_px": 3.009835767207134,
"confidence": 0.6668670535817509
},
{
"marker_id": 214,
"observed_center_px": [
1073.0,
853.25
],
"projected_center_px": [
1080.1971435546875,
854.8392944335938
],
"reprojection_error_px": 7.370531333861345,
"confidence": 0.41285121294657384
},
{
"marker_id": 64,
"observed_center_px": [
238.75,
848.0
],
"projected_center_px": [
239.28909301757812,
845.261962890625
],
"reprojection_error_px": 2.7906036074505627,
"confidence": 0.5529673325477359
},
{
"marker_id": 211,
"observed_center_px": [
897.5,
804.5
],
"projected_center_px": [
893.0216674804688,
803.3536987304688
],
"reprojection_error_px": 4.622712272683653,
"confidence": 0.3764293280418822
}
]
},
"qa": {
"sanity_notes": []
}
}

1832
data/camera_study/Scene4/k5_bcdef/render_e_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

313
data/camera_study/Scene4/k5_bcdef/render_e_camera_pose.json Normal file
View File

@@ -0,0 +1,313 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:10Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene4\\k5_bcdef\\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": [
[
2001.2965087890625,
0.0,
720.3994750976562
],
[
0.0,
1994.771728515625,
538.7074584960938
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 8,
"used_marker_ids": [
63,
48,
57,
102,
59,
85,
206,
62
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.005695072036998192,
0.0011240571117526216,
0.0010562740256110418,
0.0010562705086781463
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 2.996717714573006,
"residual_median_px": 2.8030183716553556,
"residual_max_px": 4.1166176179877825,
"sigma2_normalized": 1.7851318199474936e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.6277607679367065,
0.7784020900726318,
-0.0025574287865310907
],
[
0.20676039159297943,
-0.1699124574661255,
-0.9635246992111206
],
[
-0.750444233417511,
0.60433429479599,
-0.2676071226596832
]
],
"translation_m": [
-0.05346357449889183,
-0.011342788115143776,
1.5591415166854858
],
"rvec_rad": [
1.7040935249856697,
0.8128722352532011,
-0.6213128569098018
]
},
"camera_in_world": {
"position_m": [
1.2059563398361206,
-0.9025537967681885,
0.406171590089798
],
"position_mm": [
1205.956298828125,
-902.5537719726562,
406.1716003417969
],
"orientation_deg": {
"roll": 113.88438415527344,
"pitch": 48.628868103027344,
"yaw": 18.22990608215332
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.2136599358623596e-05,
3.0416306605837006e-06,
2.1021507519982666e-06,
-1.1230641773600424e-06,
-1.371698841601667e-05,
3.977788871327405e-06
],
[
3.041630660583591e-06,
1.8929060247602694e-05,
3.316440658408003e-06,
7.514824514967662e-06,
-8.114023161745424e-06,
2.8238170275526954e-06
],
[
2.102150751997935e-06,
3.316440658408075e-06,
4.688942384134863e-05,
-1.2846977286784547e-05,
-1.0541450870175548e-05,
-5.179956961569723e-06
],
[
-1.1230641773600043e-06,
7.514824514967632e-06,
-1.2846977286784593e-05,
7.994474479507391e-06,
7.541586201960312e-07,
5.003754419512585e-06
],
[
-1.371698841601658e-05,
-8.114023161745488e-06,
-1.0541450870175645e-05,
7.541586201960208e-07,
1.072411251562287e-05,
1.5229997606456242e-06
],
[
3.977788871327373e-06,
2.8238170275526784e-06,
-5.1799569615696834e-06,
5.003754419512568e-06,
1.5229997606456371e-06,
1.6620072197593014e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3248049144367629,
0.24927984110349757,
0.39233773503802993
],
"tvec_std_m": [
0.0028274501727718194,
0.0032747690782134347,
0.004076772276886828
]
},
"camera_center_std_m": [
0.004672358595922194,
0.0046637503435358225,
0.005794685621838271
],
"camera_center_std_mm": [
4.672358595922194,
4.663750343535822,
5.794685621838271
],
"orientation_std_deg": {
"roll": 0.45663441611107747,
"pitch": 0.2831311137480028,
"yaw": 0.3941889329334063
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1315.5,
1051.5
],
"projected_center_px": [
1319.4161376953125,
1052.4847412109375
],
"reprojection_error_px": 4.038050235096903,
"confidence": 0.12036540821870305
},
{
"marker_id": 48,
"observed_center_px": [
1024.25,
1030.5
],
"projected_center_px": [
1023.2312622070312,
1033.29931640625
],
"reprojection_error_px": 2.9789258186674026,
"confidence": 0.5220905934972447
},
{
"marker_id": 57,
"observed_center_px": [
813.0,
990.25
],
"projected_center_px": [
813.7991333007812,
988.6856079101562
],
"reprojection_error_px": 1.7566834214460019,
"confidence": 0.7474157066244057
},
{
"marker_id": 102,
"observed_center_px": [
1105.75,
937.0
],
"projected_center_px": [
1104.3624267578125,
934.7692260742188
],
"reprojection_error_px": 2.6271109246433086,
"confidence": 0.6592833102794173
},
{
"marker_id": 59,
"observed_center_px": [
989.5,
951.5
],
"projected_center_px": [
985.3837280273438,
951.4466552734375
],
"reprojection_error_px": 4.1166176179877825,
"confidence": 0.6937274375974865
},
{
"marker_id": 85,
"observed_center_px": [
759.0,
884.75
],
"projected_center_px": [
760.3306884765625,
883.28759765625
],
"reprojection_error_px": 1.9772082431200109,
"confidence": 0.48917934037555
},
{
"marker_id": 206,
"observed_center_px": [
1375.5,
773.0
],
"projected_center_px": [
1373.40771484375,
772.30126953125
],
"reprojection_error_px": 2.2058743035412696,
"confidence": 0.1868327145376036
},
{
"marker_id": 62,
"observed_center_px": [
829.25,
758.0
],
"projected_center_px": [
831.7711791992188,
760.14404296875
],
"reprojection_error_px": 3.3095716953134,
"confidence": 0.35910018217659384
}
]
},
"qa": {
"sanity_notes": []
}
}

2116
data/camera_study/Scene4/k5_bcdef/render_f_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

554
data/camera_study/Scene4/k5_bcdef/render_f_camera_pose.json Normal file
View File

@@ -0,0 +1,554 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:11Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene4\\k5_bcdef\\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": [
[
2003.446044921875,
0.0,
722.6578979492188
],
[
0.0,
1992.1611328125,
539.48974609375
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 25,
"used_marker_ids": [
208,
68,
46,
56,
53,
96,
62,
47,
72,
97,
214,
79,
51,
210,
103,
73,
69,
58,
82,
52,
101,
64,
83,
75,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.008815563054617732,
0.0014635734988828098,
0.0013728284391384717,
0.001372824908082833,
0.0013728249057077828
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 3.893242640896725,
"residual_median_px": 3.5500743287376526,
"residual_max_px": 5.762797756428706,
"sigma2_normalized": 2.141645706506722e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.3176795244216919,
0.9481525421142578,
0.009299695491790771
],
[
0.9205477833747864,
-0.3060496151447296,
-0.2427455186843872
],
[
-0.22731362283229828,
0.08567609637975693,
-0.9700454473495483
]
],
"translation_m": [
0.12345529347658157,
-0.19982950389385223,
1.4964244365692139
],
"rvec_rad": [
2.377693853304996,
1.7130237064630836,
-0.19985174320308632
]
},
"camera_in_world": {
"position_m": [
0.48489105701446533,
-0.3064199984073639,
1.4019439220428467
],
"position_mm": [
484.89105224609375,
-306.4200134277344,
1401.9439697265625
],
"orientation_deg": {
"roll": 174.95262145996094,
"pitch": 13.13896369934082,
"yaw": 70.96052551269531
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.5134448040648784e-05,
1.886505523127498e-05,
1.758240410327171e-06,
-1.810363977281753e-07,
5.038890068538026e-07,
2.535316760681993e-06
],
[
1.8865055231275015e-05,
1.6472472280197986e-05,
-3.938622580813351e-06,
6.915005467023482e-07,
1.3436475308461146e-08,
2.5239089141456715e-06
],
[
1.7582404103267296e-06,
-3.938622580813165e-06,
0.00016345528428136864,
1.2760211990996107e-06,
-1.6885792095168194e-06,
-2.893382888508609e-05
],
[
-1.8103639772817426e-07,
6.915005467023501e-07,
1.2760211990995245e-06,
4.105010849554699e-07,
-4.030484773708236e-08,
4.998334164326166e-07
],
[
5.03889006853805e-07,
1.343647530844593e-08,
-1.6885792095168348e-06,
-4.030484773708497e-08,
2.2721254339717912e-07,
4.396574266952655e-07
],
[
2.535316760682081e-06,
2.523908914145641e-06,
-2.8933828885086076e-05,
4.998334164326008e-07,
4.3965742669526083e-07,
1.0057436856060575e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3396168269270525,
0.23254233292419335,
0.7325244331637354
],
"tvec_std_m": [
0.0006407035858768623,
0.0004766681690622724,
0.0031713462214114333
]
},
"camera_center_std_m": [
0.011617727487135384,
0.011500702975784143,
0.0037738322480196616
],
"camera_center_std_mm": [
11.617727487135383,
11.500702975784142,
3.7738322480196618
],
"orientation_std_deg": {
"roll": 0.5443586240371365,
"pitch": 0.45693937745203334,
"yaw": 0.10094138603029135
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
936.75,
754.0
],
"projected_center_px": [
935.0791015625,
751.452392578125
],
"reprojection_error_px": 3.046671161190936,
"confidence": 0.7442305341015119
},
{
"marker_id": 68,
"observed_center_px": [
1395.25,
942.0
],
"projected_center_px": [
1389.7919921875,
940.8734130859375
],
"reprojection_error_px": 5.573064449317619,
"confidence": 0.3228339421209916
},
{
"marker_id": 46,
"observed_center_px": [
1383.5,
882.5
],
"projected_center_px": [
1388.328125,
883.6264038085938
],
"reprojection_error_px": 4.957779397637566,
"confidence": 0.4761841447500904
},
{
"marker_id": 56,
"observed_center_px": [
1341.75,
844.0
],
"projected_center_px": [
1345.26416015625,
839.87158203125
],
"reprojection_error_px": 5.421545584837676,
"confidence": 0.6720101269988878
},
{
"marker_id": 53,
"observed_center_px": [
1399.75,
806.0
],
"projected_center_px": [
1394.9783935546875,
803.9635620117188
],
"reprojection_error_px": 5.1879965062693305,
"confidence": 0.25536384825957736
},
{
"marker_id": 96,
"observed_center_px": [
816.5,
827.0
],
"projected_center_px": [
812.5989379882812,
825.6062622070312
],
"reprojection_error_px": 4.142558370720266,
"confidence": 0.7073036915264065
},
{
"marker_id": 62,
"observed_center_px": [
845.5,
862.75
],
"projected_center_px": [
844.05615234375,
867.4198608398438
],
"reprojection_error_px": 4.887974664210606,
"confidence": 0.7021126386789793
},
{
"marker_id": 47,
"observed_center_px": [
664.75,
836.5
],
"projected_center_px": [
667.4331665039062,
836.1431274414062
],
"reprojection_error_px": 2.7067952472918484,
"confidence": 0.6877833343649649
},
{
"marker_id": 72,
"observed_center_px": [
1346.5,
753.5
],
"projected_center_px": [
1346.8828125,
752.0767211914062
],
"reprojection_error_px": 1.473861586835173,
"confidence": 0.656333567312455
},
{
"marker_id": 97,
"observed_center_px": [
554.25,
817.5
],
"projected_center_px": [
552.0118408203125,
815.5062255859375
],
"reprojection_error_px": 2.9974143737210723,
"confidence": 0.6757834243292992
},
{
"marker_id": 214,
"observed_center_px": [
1037.5,
714.5
],
"projected_center_px": [
1041.506103515625,
715.9939575195312
],
"reprojection_error_px": 4.275602232208575,
"confidence": 0.6534862502647855
},
{
"marker_id": 79,
"observed_center_px": [
821.5,
736.5
],
"projected_center_px": [
822.350341796875,
737.5794067382812
],
"reprojection_error_px": 1.3741179273117612,
"confidence": 0.7073333333333334
},
{
"marker_id": 51,
"observed_center_px": [
739.25,
559.0
],
"projected_center_px": [
740.8521728515625,
558.3681640625
],
"reprojection_error_px": 1.7222585456894723,
"confidence": 0.5778977292530064
},
{
"marker_id": 210,
"observed_center_px": [
872.0,
307.25
],
"projected_center_px": [
871.7742309570312,
304.90594482421875
],
"reprojection_error_px": 2.354902615368604,
"confidence": 0.6091109328838102
},
{
"marker_id": 103,
"observed_center_px": [
690.0,
488.0
],
"projected_center_px": [
694.0210571289062,
487.8402099609375
],
"reprojection_error_px": 4.024230770036849,
"confidence": 0.5891999992118755
},
{
"marker_id": 73,
"observed_center_px": [
1401.75,
418.75
],
"projected_center_px": [
1404.181884765625,
418.39581298828125
],
"reprojection_error_px": 2.4575418516373673,
"confidence": 0.2090385473648542
},
{
"marker_id": 69,
"observed_center_px": [
538.5,
403.0
],
"projected_center_px": [
533.90234375,
406.2080383300781
],
"reprojection_error_px": 5.6062423173115254,
"confidence": 0.5651459847123547
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
428.5
],
"projected_center_px": [
631.809326171875,
432.26702880859375
],
"reprojection_error_px": 3.9507227452400517,
"confidence": 0.5885499509109636
},
{
"marker_id": 82,
"observed_center_px": [
1356.5,
429.5
],
"projected_center_px": [
1358.47412109375,
429.6994934082031
],
"reprojection_error_px": 1.9841753230763644,
"confidence": 0.6113473409254715
},
{
"marker_id": 52,
"observed_center_px": [
1190.5,
312.5
],
"projected_center_px": [
1186.270263671875,
316.4139709472656
],
"reprojection_error_px": 5.762797756428706,
"confidence": 0.5798408315806451
},
{
"marker_id": 101,
"observed_center_px": [
1307.75,
304.0
],
"projected_center_px": [
1307.99365234375,
308.3113098144531
],
"reprojection_error_px": 4.318189294231404,
"confidence": 0.5694099539829083
},
{
"marker_id": 64,
"observed_center_px": [
640.5,
338.0
],
"projected_center_px": [
640.4301147460938,
334.9346923828125
],
"reprojection_error_px": 3.066104162728535,
"confidence": 0.5397522426826521
},
{
"marker_id": 83,
"observed_center_px": [
1323.25,
208.5
],
"projected_center_px": [
1320.167236328125,
207.53790283203125
],
"reprojection_error_px": 3.2294059542345743,
"confidence": 0.5445844663450473
},
{
"marker_id": 75,
"observed_center_px": [
1108.0,
182.0
],
"projected_center_px": [
1111.481201171875,
182.69589233398438
],
"reprojection_error_px": 3.5500743287376526,
"confidence": 0.5380549070504695
},
{
"marker_id": 61,
"observed_center_px": [
1280.0,
135.0
],
"projected_center_px": [
1283.0751953125,
133.40899658203125
],
"reprojection_error_px": 3.462386183834816,
"confidence": 0.5493902887184056
}
]
},
"qa": {
"sanity_notes": []
}
}

77
data/camera_study/Scene4/k5_bcdef/robot_state.eval.json Normal file
View File

@@ -0,0 +1,77 @@
{
"rows": [
{
"joint": "x",
"estimate": 72.0559675636403,
"gt": 70.0,
"error": 2.0559675636402943,
"unit": "mm",
"observable": true,
"n_markers": 1
},
{
"joint": "y",
"estimate": 49.97426528467959,
"gt": 50.0,
"error": 0.02573471532042504,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "z",
"estimate": -70.02235337566482,
"gt": -70.0,
"error": 0.022353375664806663,
"unit": "deg",
"observable": true,
"n_markers": 3
},
{
"joint": "a",
"estimate": 120.16605656457745,
"gt": 120.0,
"error": 0.16605656457744544,
"unit": "deg",
"observable": true,
"n_markers": 5
},
{
"joint": "b",
"estimate": 49.55963782053335,
"gt": 50.0,
"error": 0.44036217946666056,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "c",
"estimate": 33.14308748587461,
"gt": 30.0,
"error": 3.1430874858746165,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "e",
"estimate": 19.308178612780214,
"gt": 20.0,
"error": 0.691821387219786,
"unit": "mm",
"observable": true,
"n_markers": 2
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 0.7595188641807908,
"max_abs_deg": 3.1430874858746165,
"mean_abs_mm": 1.3738944754300402,
"max_abs_mm": 2.0559675636402943,
"n_unobservable": 0,
"wrist_error_mm": 2.0735827523291395,
"finger_error_mm": 2.7232961386946615
}
}

58
data/camera_study/Scene4/k5_bcdef/robot_state.json Normal file
View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T22:54:15Z",
"method": "hybrid",
"movements": {
"x": {
"value": 72.0559675636403,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"y": {
"value": 49.97426528467959,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"z": {
"value": -70.02235337566482,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 3
},
"a": {
"value": 120.16605656457745,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 5
},
"b": {
"value": 49.55963782053335,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"c": {
"value": 33.14308748587461,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"e": {
"value": 19.308178612780214,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 2
}
},
"residual_rms": 8.091648339560965,
"num_markers": 30
}