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

540
data/camera_study/Scene7/k3_dfg/aruco_marker_poses.json Normal file
View File

@@ -0,0 +1,540 @@
{
"schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": "2026-06-03T04:17:36Z",
"summary": {
"num_cameras": 3,
"num_markers": 11
},
"cameras": [
{
"camera_id": "d",
"position_m": [
0.7053726989327014,
-0.7916993791931249,
0.39580877555507565
],
"position_mm": [
705.3726989327014,
-791.699379193125,
395.80877555507567
],
"direction": [
-0.5581956505775452,
0.7812879085540771,
-0.2792970836162567
]
},
{
"camera_id": "f",
"position_m": [
0.4840985781070297,
-0.3107642971811879,
1.4024590280841054
],
"position_mm": [
484.0985781070297,
-310.76429718118794,
1402.4590280841053
],
"direction": [
-0.22673296928405762,
0.08821365982294083,
-0.9699538946151733
]
},
{
"camera_id": "g",
"position_m": [
-0.2105851021647306,
0.1959402103874402,
1.396204731389063
],
"position_mm": [
-210.58510216473059,
195.9402103874402,
1396.204731389063
],
"direction": [
0.30323532223701477,
-0.29429134726524353,
-0.9063338041305542
]
}
],
"markers": [
{
"marker_id": 44,
"link": "FingerB",
"position_m": [
0.2343546794396104,
-0.1709288416693126,
0.32472662493170434
],
"position_mm": [
234.3546794396104,
-170.9288416693126,
324.72662493170435
],
"normal": [
0.3254143108217881,
-0.590332520363127,
0.738656240557202
],
"corners_m": [
[
0.22881855576192786,
-0.18433971160714607,
0.3162785640534827
],
[
0.21958476796933066,
-0.17044372679423453,
0.33178961841882987
],
[
0.23966683537137412,
-0.15707067542373476,
0.33329977496977015
],
[
0.24934855865580904,
-0.17186125285213505,
0.31753854228473477
]
],
"num_cameras": 2,
"edge_length_mm": 23.674143240677974
},
{
"marker_id": 55,
"link": "Board",
"position_m": [
0.2844520235747523,
-0.261194769865532,
-0.02860110421118293
],
"position_mm": [
284.4520235747523,
-261.19476986553195,
-28.601104211182932
],
"normal": [
0.11382577069415581,
-0.09118948821498352,
0.9893069145442029
],
"corners_m": [
[
0.2722312081446725,
-0.2718258129079038,
-0.027624814862103865
],
[
0.273811210957421,
-0.2489946082492266,
-0.026816614470303108
],
[
0.29651402748309696,
-0.2504737148642466,
-0.028444533409639258
],
[
0.29525164771381873,
-0.27348494344075097,
-0.031518454102685486
]
],
"num_cameras": 2,
"edge_length_mm": 23.09134957012829
},
{
"marker_id": 58,
"link": "Board",
"position_m": [
0.04767126957157588,
-0.2167596381870906,
-0.027172892714526314
],
"position_mm": [
47.67126957157588,
-216.7596381870906,
-27.172892714526313
],
"normal": [
-0.018847743908352862,
-0.013163734920450532,
0.99973570439017
],
"corners_m": [
[
0.03571680433198501,
-0.22865917644641873,
-0.027611728719111592
],
[
0.035930019757782115,
-0.20544376156391744,
-0.02718851491727311
],
[
0.059636988789443,
-0.20486897879915394,
-0.0268475250776599
],
[
0.0594012654070934,
-0.2280666359388724,
-0.02704380214406066
]
],
"num_cameras": 2,
"edge_length_mm": 23.458750383574287
},
{
"marker_id": 64,
"link": "Board",
"position_m": [
-0.019122240428575788,
-0.189595491948292,
-0.0272320469566373
],
"position_mm": [
-19.12224042857579,
-189.595491948292,
-27.2320469566373
],
"normal": [
0.02192474942706186,
0.012184152646501413,
0.9996853763994187
],
"corners_m": [
[
-0.030851107488173306,
-0.2012625922413917,
-0.02685264105586003
],
[
-0.03021488096210907,
-0.1783061304727946,
-0.027105683721668952
],
[
-0.007760524937703533,
-0.17775860057647283,
-0.027645865833439656
],
[
-0.007662448326317243,
-0.20105464450250882,
-0.02732399721558057
]
],
"num_cameras": 3,
"edge_length_mm": 22.981762742039773
},
{
"marker_id": 69,
"link": "Board",
"position_m": [
0.00621502588230628,
-0.27745290939527545,
-0.027605193083321593
],
"position_mm": [
6.21502588230628,
-277.45290939527547,
-27.60519308332159
],
"normal": [
0.01837202307095535,
-0.0009680628814038307,
0.9998307514887397
],
"corners_m": [
[
-0.005692629547882172,
-0.2890224565930969,
-0.027270405496895415
],
[
-0.004887389782635818,
-0.265905414286136,
-0.02751738620948909
],
[
0.018112821973765222,
-0.2657845375711455,
-0.027686218848621956
],
[
0.01732730088597789,
-0.2890992291307233,
-0.027946761778279896
]
],
"num_cameras": 3,
"edge_length_mm": 23.123224541563857
},
{
"marker_id": 79,
"link": "Board",
"position_m": [
0.31183998695501536,
-0.15999871677887467,
-0.02629044663927655
],
"position_mm": [
311.8399869550154,
-159.99871677887467,
-26.29044663927655
],
"normal": [
-0.004132663365066441,
-0.026450110044196617,
0.99964159215799
],
"corners_m": [
[
0.2991592235977763,
-0.17109474791325868,
-0.02667338768225341
],
[
0.30057935606391084,
-0.1482145989881665,
-0.025987643542576485
],
[
0.3243246776221367,
-0.14873593669783608,
-0.025977867775453314
],
[
0.32329669053623766,
-0.17194958351623746,
-0.026522887556823006
]
],
"num_cameras": 2,
"edge_length_mm": 23.52033394640276
},
{
"marker_id": 95,
"link": "Board",
"position_m": [
0.18682488912344167,
-0.2767030713815768,
-0.027178422422862867
],
"position_mm": [
186.82488912344166,
-276.7030713815768,
-27.178422422862866
],
"normal": [
0.027356406141144797,
-0.016782166392263265,
0.9994848602826475
],
"corners_m": [
[
0.1759037467571426,
-0.2890419430980467,
-0.02715236303577448
],
[
0.17472962822022675,
-0.2661895761535972,
-0.026605431262462852
],
[
0.1977943545136596,
-0.2644517356475792,
-0.027338900490574233
],
[
0.19887182700273773,
-0.28712903062708395,
-0.0276169949026399
]
],
"num_cameras": 3,
"edge_length_mm": 22.9469100155624
},
{
"marker_id": 103,
"link": "Board",
"position_m": [
0.10467089900692421,
-0.19094952800615345,
-0.027341928187599857
],
"position_mm": [
104.6708990069242,
-190.94952800615346,
-27.34192818759986
],
"normal": [
0.022194474220555056,
0.018735775392784815,
0.9995780990170325
],
"corners_m": [
[
0.0932633223342465,
-0.20298500268151878,
-0.026903967562032515
],
[
0.09294866940751188,
-0.1801894266262723,
-0.02724142328546725
],
[
0.11579032079766485,
-0.1786701894241218,
-0.02785996524407038
],
[
0.1166812834882736,
-0.20195349329270082,
-0.027362356658829284
]
],
"num_cameras": 3,
"edge_length_mm": 23.112881506437258
},
{
"marker_id": 208,
"link": "Board",
"position_m": [
0.3524610636880449,
-0.08985710639167843,
0.001156445898710156
],
"position_mm": [
352.46106368804493,
-89.85710639167843,
1.156445898710156
],
"normal": [
-0.019290645183641437,
-0.008200111587218895,
0.9997802904530356
],
"corners_m": [
[
0.3409986474917603,
-0.07731122080529367,
0.0009793833376250556
],
[
0.36505711741946884,
-0.07890102071700018,
0.0015488981035254549
],
[
0.3640700434867723,
-0.10225941553040692,
0.0012198313968488734
],
[
0.3397184463541782,
-0.10095676851401295,
0.0008776707568412403
]
],
"num_cameras": 2,
"edge_length_mm": 23.892108268959635
},
{
"marker_id": 214,
"link": "Board",
"position_m": [
0.3476888452532459,
-0.012579011037873606,
0.0012174782319017627
],
"position_mm": [
347.6888452532459,
-12.579011037873606,
1.2174782319017627
],
"normal": [
-0.002371763340179063,
-0.029741715673364644,
0.9995548034437447
],
"corners_m": [
[
0.3363970980683381,
-0.00151770951950398,
0.001740039080225055
],
[
0.3597351972053792,
-0.0013426020244298854,
0.001368369212554199
],
[
0.3593785560029079,
-0.024087728279984896,
0.0011074043829707384
],
[
0.3352445297363585,
-0.023368004327575666,
0.0006541002518570583
]
],
"num_cameras": 2,
"edge_length_mm": 23.03693690462995
},
{
"marker_id": 215,
"link": "Board",
"position_m": [
0.25031648288151526,
-0.08941383348903734,
0.0007039091066570266
],
"position_mm": [
250.31648288151527,
-89.41383348903733,
0.7039091066570266
],
"normal": [
0.011706289080171656,
-0.01987729704310803,
0.999733892522521
],
"corners_m": [
[
0.23915543160875508,
-0.07739564985848701,
0.0008663294929411744
],
[
0.2626293343979798,
-0.07859427535829953,
0.0009822689428071263
],
[
0.26124802058505037,
-0.10140181278084777,
0.0001260845991519632
],
[
0.23823314493427572,
-0.10026359595851501,
0.0008409533917278426
]
],
"num_cameras": 3,
"edge_length_mm": 23.077693882829024
}
]
}

277
data/camera_study/Scene7/k3_dfg/aruco_positions_initial.json Normal file
View File

@@ -0,0 +1,277 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:17:35Z",
"summary": {
"num_cameras": 3,
"num_markers": 11,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "d",
"position_m": [
0.7053726989327014,
-0.7916993791931249,
0.39580877555507565
],
"position_mm": [
705.3726989327014,
-791.699379193125,
395.80877555507567
],
"direction": [
-0.5581956505775452,
0.7812879085540771,
-0.2792970836162567
]
},
{
"camera_id": "f",
"position_m": [
0.4840985781070297,
-0.3107642971811879,
1.4024590280841054
],
"position_mm": [
484.0985781070297,
-310.76429718118794,
1402.4590280841053
],
"direction": [
-0.22673296928405762,
0.08821365982294083,
-0.9699538946151733
]
},
{
"camera_id": "g",
"position_m": [
-0.2105851021647306,
0.1959402103874402,
1.396204731389063
],
"position_mm": [
-210.58510216473059,
195.9402103874402,
1396.204731389063
],
"direction": [
0.30323532223701477,
-0.29429134726524353,
-0.9063338041305542
]
}
],
"markers": [
{
"marker_id": 44,
"position_m": [
0.23432550541943917,
-0.17088338095429995,
0.3246557718710308
],
"position_mm": [
234.32550541943917,
-170.88338095429995,
324.65577187103077
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 55,
"position_m": [
0.2844508125035568,
-0.2611917692780813,
-0.028689445870421115
],
"position_mm": [
284.4508125035568,
-261.1917692780813,
-28.689445870421114
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04766108067212143,
-0.21677176898468664,
-0.02724158851709965
],
"position_mm": [
47.66108067212143,
-216.77176898468664,
-27.241588517099647
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019060490429323552,
-0.18972887814589856,
-0.027328941430774547
],
"position_mm": [
-19.06049042932355,
-189.72887814589856,
-27.328941430774545
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006195655994695201,
-0.2772827019192013,
-0.02770560618878238
],
"position_mm": [
6.1956559946952,
-277.2827019192013,
-27.70560618878238
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31185479157288315,
-0.1599951542682076,
-0.026378865194432336
],
"position_mm": [
311.85479157288313,
-159.99515426820759,
-26.378865194432336
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.186854308783307,
-0.2763247495226501,
-0.027334071745798775
],
"position_mm": [
186.854308783307,
-276.3247495226501,
-27.334071745798774
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10468680531544566,
-0.1908938281643627,
-0.027430454286488375
],
"position_mm": [
104.68680531544567,
-190.8938281643627,
-27.430454286488374
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3524875706590064,
-0.08984854578537911,
0.0010788016539580595
],
"position_mm": [
352.4875706590064,
-89.84854578537912,
1.0788016539580594
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34771446215500396,
-0.012566718592971498,
0.0011539756163254846
],
"position_mm": [
347.71446215500396,
-12.566718592971498,
1.1539756163254846
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25025198278121685,
-0.08939946327183715,
0.000647861735377337
],
"position_mm": [
250.25198278121684,
-89.39946327183715,
0.647861735377337
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

276
data/camera_study/Scene7/k3_dfg/aruco_positions_optimized.json Normal file
View File

@@ -0,0 +1,276 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:17:35Z",
"summary": {
"num_cameras": 3,
"num_markers": 11,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "d",
"position_m": [
0.7053726989327014,
-0.7916993791931249,
0.39580877555507565
],
"position_mm": [
705.3726989327014,
-791.699379193125,
395.80877555507567
],
"direction": [
-0.5581956505775452,
0.7812879085540771,
-0.2792970836162567
]
},
{
"camera_id": "f",
"position_m": [
0.4840985781070297,
-0.3107642971811879,
1.4024590280841054
],
"position_mm": [
484.0985781070297,
-310.76429718118794,
1402.4590280841053
],
"direction": [
-0.22673296928405762,
0.08821365982294083,
-0.9699538946151733
]
},
{
"camera_id": "g",
"position_m": [
-0.2105851021647306,
0.1959402103874402,
1.396204731389063
],
"position_mm": [
-210.58510216473059,
195.9402103874402,
1396.204731389063
],
"direction": [
0.30323532223701477,
-0.29429134726524353,
-0.9063338041305542
]
}
],
"markers": [
{
"marker_id": 44,
"position_m": [
0.23546854175173088,
-0.16998805327014815,
0.3244839898792421
],
"position_mm": [
235.46854175173087,
-169.98805327014816,
324.4839898792421
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 55,
"position_m": [
0.2844569279289956,
-0.26118364447088704,
-0.028690352718946977
],
"position_mm": [
284.4569279289956,
-261.18364447088703,
-28.690352718946976
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04933787012712134,
-0.21707460343355908,
-0.02638400554627451
],
"position_mm": [
49.33787012712134,
-217.07460343355908,
-26.384005546274512
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022251019018283934,
-0.18785793697922498,
-0.02892704433192288
],
"position_mm": [
-22.251019018283934,
-187.85793697922497,
-28.92704433192288
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005011756394782371,
-0.27887545963520105,
-0.02779309362126566
],
"position_mm": [
5.0117563947823704,
-278.875459635201,
-27.79309362126566
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3121166050656359,
-0.15892661361279695,
-0.02649784934839987
],
"position_mm": [
312.1166050656359,
-158.92661361279696,
-26.497849348399868
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18717767368884078,
-0.27641139710061097,
-0.027196256882616458
],
"position_mm": [
187.17767368884077,
-276.41139710061094,
-27.196256882616456
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10724233527575142,
-0.19129105954951545,
-0.026469764627053347
],
"position_mm": [
107.24233527575142,
-191.29105954951544,
-26.469764627053348
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3528334171968853,
-0.09180545991392698,
0.001718205850656229
],
"position_mm": [
352.8334171968853,
-91.80545991392698,
1.718205850656229
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3475115375944236,
-0.011987824489283615,
0.000811903532330117
],
"position_mm": [
347.5115375944236,
-11.987824489283614,
0.811903532330117
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25039827962036737,
-0.08913082224212311,
0.0006800229750070381
],
"position_mm": [
250.39827962036736,
-89.13082224212312,
0.6800229750070381
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

1668
data/camera_study/Scene7/k3_dfg/render_d_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

355
data/camera_study/Scene7/k3_dfg/render_d_camera_pose.json Normal file
View File

@@ -0,0 +1,355 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:17:34Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene7\\k3_dfg\\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": 11,
"used_marker_ids": [
95,
79,
208,
69,
51,
103,
58,
215,
214,
64,
211
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.0052784192155946414,
0.0015553308372352722,
0.0015454479152646658,
0.0015454478203885053
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 4.373601588799292,
"residual_median_px": 3.0665777316405665,
"residual_max_px": 6.934048787618814,
"sigma2_normalized": 3.284062327621381e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8140211701393127,
0.5808314681053162,
-0.002099925186485052
],
[
0.16058388352394104,
-0.22852589190006256,
-0.9602024555206299
],
[
-0.5581956505775452,
0.7812879085540771,
-0.2792970836162567
]
],
"translation_m": [
-0.11351325362920761,
0.08586125820875168,
1.1228293180465698
],
"rvec_rad": [
1.7872208901144642,
0.5706984933785668,
-0.4312830296574329
]
},
"camera_in_world": {
"position_m": [
0.70537269115448,
-0.7916994094848633,
0.39580878615379333
],
"position_mm": [
705.3726806640625,
-791.6994018554688,
395.80877685546875
],
"orientation_deg": {
"roll": 109.67109680175781,
"pitch": 33.93110275268555,
"yaw": 11.159582138061523
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00010643387504793911,
1.8247691499686762e-05,
2.0600022881989278e-05,
-2.7013740573648636e-06,
-2.152552135452421e-05,
-2.015431056977141e-06
],
[
1.8247691499687314e-05,
3.316891739937032e-05,
-2.9018095355806712e-05,
7.564731571326925e-06,
-5.783403352358285e-06,
-2.3836513269670096e-06
],
[
2.0600022881988008e-05,
-2.9018095355806875e-05,
9.531651328561114e-05,
-1.4811228025360293e-05,
-4.035453937422605e-06,
4.082125600252585e-06
],
[
-2.7013740573646497e-06,
7.564731571326956e-06,
-1.4811228025360302e-05,
3.04169077563796e-06,
1.0286420826073937e-07,
-1.2327944317583284e-06
],
[
-2.152552135452418e-05,
-5.7834033523581804e-06,
-4.035453937422829e-06,
1.0286420826077795e-07,
5.16490507174838e-06,
2.2668022372813035e-06
],
[
-2.015431056976974e-06,
-2.3836513269669736e-06,
4.082125600252625e-06,
-1.2327944317583277e-06,
2.266802237281269e-06,
9.79188378229586e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.5911021915572052,
0.32998050345689806,
0.5593797056338236
],
"tvec_std_m": [
0.0017440443731849141,
0.0022726427505766014,
0.0031291985846692216
]
},
"camera_center_std_m": [
0.0071634871584966234,
0.006929728960665848,
0.008856161444519013
],
"camera_center_std_mm": [
7.163487158496624,
6.929728960665848,
8.856161444519014
],
"orientation_std_deg": {
"roll": 0.7037339556837442,
"pitch": 0.4968365694308166,
"yaw": 0.38816336671239354
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
421.75,
1048.0
],
"projected_center_px": [
422.2366943359375,
1044.9722900390625
],
"reprojection_error_px": 3.0665777316405665,
"confidence": 0.20402441897220203
},
{
"marker_id": 79,
"observed_center_px": [
835.0,
1017.25
],
"projected_center_px": [
836.3563232421875,
1018.6166381835938
],
"reprojection_error_px": 1.9254383039075638,
"confidence": 0.6457320027538672
},
{
"marker_id": 208,
"observed_center_px": [
1003.5,
919.75
],
"projected_center_px": [
997.814453125,
919.96533203125
],
"reprojection_error_px": 5.689623111551811,
"confidence": 0.6159321401194328
},
{
"marker_id": 69,
"observed_center_px": [
128.0,
930.0
],
"projected_center_px": [
123.43917846679688,
933.3843383789062
],
"reprojection_error_px": 5.679334408244252,
"confidence": 0.624
},
{
"marker_id": 51,
"observed_center_px": [
549.25,
937.75
],
"projected_center_px": [
550.33447265625,
936.3466186523438
],
"reprojection_error_px": 1.7735727075886691,
"confidence": 0.77314169020749
},
{
"marker_id": 103,
"observed_center_px": [
419.5,
915.25
],
"projected_center_px": [
425.69110107421875,
912.994873046875
],
"reprojection_error_px": 6.5890310430216825,
"confidence": 0.7057030368311452
},
{
"marker_id": 58,
"observed_center_px": [
292.0,
903.5
],
"projected_center_px": [
292.99151611328125,
905.9818725585938
],
"reprojection_error_px": 2.6726009054845887,
"confidence": 0.7151029421394708
},
{
"marker_id": 215,
"observed_center_px": [
805.25,
860.25
],
"projected_center_px": [
802.7429809570312,
861.4647216796875
],
"reprojection_error_px": 2.785802082149909,
"confidence": 0.44061534868104507
},
{
"marker_id": 214,
"observed_center_px": [
1073.0,
853.5
],
"projected_center_px": [
1079.8641357421875,
854.482177734375
],
"reprojection_error_px": 6.934048787618814,
"confidence": 0.41973369957421486
},
{
"marker_id": 64,
"observed_center_px": [
238.25,
848.25
],
"projected_center_px": [
238.33372497558594,
846.0867309570312
],
"reprojection_error_px": 2.1648886400468266,
"confidence": 0.5454096732100583
},
{
"marker_id": 211,
"observed_center_px": [
896.75,
804.25
],
"projected_center_px": [
892.5262451171875,
803.4739990234375
],
"reprojection_error_px": 4.29444790697342,
"confidence": 0.4051124159631517
}
]
},
"qa": {
"sanity_notes": []
}
}

1738
data/camera_study/Scene7/k3_dfg/render_f_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

579
data/camera_study/Scene7/k3_dfg/render_f_camera_pose.json Normal file
View File

@@ -0,0 +1,579 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:17:34Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene7\\k3_dfg\\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": 27,
"used_marker_ids": [
208,
46,
68,
53,
56,
62,
54,
97,
214,
79,
96,
55,
72,
66,
215,
95,
103,
82,
73,
69,
210,
58,
64,
52,
81,
83,
61
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.0079362121170323,
0.0014249940324712145,
0.0013432050137671446,
0.0013432033711259243
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.8079921348299317,
"residual_median_px": 3.6785971920412286,
"residual_max_px": 5.741649051076943,
"sigma2_normalized": 2.029719708204137e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.31779101490974426,
0.948085606098175,
0.011939127929508686
],
[
0.9206525087356567,
-0.30553561449050903,
-0.24299578368663788
],
[
-0.22673296928405762,
0.08821365982294083,
-0.9699538946151733
]
],
"translation_m": [
0.12404485046863556,
-0.19984452426433563,
1.4974952936172485
],
"rvec_rad": [
2.376258208253804,
1.7123501574099225,
-0.19681852123886232
]
},
"camera_in_world": {
"position_m": [
0.48409855365753174,
-0.3107643127441406,
1.4024590253829956
],
"position_mm": [
484.0985412597656,
-310.7643127441406,
1402.458984375
],
"orientation_deg": {
"roll": 174.80345153808594,
"pitch": 13.104802131652832,
"yaw": 70.95633697509766
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.228737125645797e-05,
1.864965411899968e-05,
2.2035556999463754e-06,
-2.471163944477939e-07,
-2.878908045490886e-08,
6.509862998953662e-07
],
[
1.8649654118999584e-05,
1.664204960039243e-05,
-2.1993179329211226e-06,
6.690224643473991e-07,
-1.5860251656582007e-07,
1.1568514663431388e-06
],
[
2.203555699947118e-06,
-2.199317932920543e-06,
0.00014942371150221328,
8.92449213384554e-07,
-2.0433912370311074e-06,
-2.733321904438026e-05
],
[
-2.471163944477787e-07,
6.690224643474089e-07,
8.924492133845363e-07,
3.5097324196583485e-07,
-1.9307940523106707e-08,
3.6489245296998257e-07
],
[
-2.87890804549113e-08,
-1.586025165658402e-07,
-2.0433912370311328e-06,
-1.9307940523109136e-08,
2.0066693104213247e-07,
5.327620265360941e-07
],
[
6.509862998952414e-07,
1.1568514663430422e-06,
-2.7333219044380254e-05,
3.648924529699786e-07,
5.327620265360848e-07,
9.224607439664132e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.325565949364928,
0.2337362319054936,
0.7003778330028647
],
"tvec_std_m": [
0.0005924299468847223,
0.00044795862648478206,
0.0030372038850996048
]
},
"camera_center_std_m": [
0.010702757177755805,
0.011085934924619744,
0.0037015805519976827
],
"camera_center_std_mm": [
10.702757177755805,
11.085934924619744,
3.7015805519976825
],
"orientation_std_deg": {
"roll": 0.5218856331752754,
"pitch": 0.4151734172316513,
"yaw": 0.1389694125445467
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"observed_center_px": [
937.25,
754.25
],
"projected_center_px": [
935.8250122070312,
751.260498046875
],
"reprojection_error_px": 3.3117536348358008,
"confidence": 0.7307341254520026
},
{
"marker_id": 46,
"observed_center_px": [
1383.75,
882.5
],
"projected_center_px": [
1388.2589111328125,
883.37890625
],
"reprojection_error_px": 4.593773590403598,
"confidence": 0.46634796204782664
},
{
"marker_id": 68,
"observed_center_px": [
1395.0,
941.5
],
"projected_center_px": [
1389.7352294921875,
940.5481567382812
],
"reprojection_error_px": 5.350122811189634,
"confidence": 0.3125249779925566
},
{
"marker_id": 53,
"observed_center_px": [
1400.0,
805.5
],
"projected_center_px": [
1394.8726806640625,
803.826171875
],
"reprojection_error_px": 5.393616983501849,
"confidence": 0.2537198672188472
},
{
"marker_id": 56,
"observed_center_px": [
1342.0,
844.0
],
"projected_center_px": [
1345.275146484375,
839.6782836914062
],
"reprojection_error_px": 5.422528593385111,
"confidence": 0.638190241264954
},
{
"marker_id": 62,
"observed_center_px": [
845.5,
862.5
],
"projected_center_px": [
844.795166015625,
867.1425170898438
],
"reprojection_error_px": 4.69571675838963,
"confidence": 0.6959044658397879
},
{
"marker_id": 54,
"observed_center_px": [
610.5,
848.75
],
"projected_center_px": [
608.1756591796875,
853.003173828125
],
"reprojection_error_px": 4.846859587528656,
"confidence": 0.7005026944924987
},
{
"marker_id": 97,
"observed_center_px": [
554.5,
817.75
],
"projected_center_px": [
552.8626098632812,
815.2154541015625
],
"reprojection_error_px": 3.017444178623724,
"confidence": 0.6877833343649649
},
{
"marker_id": 214,
"observed_center_px": [
1037.75,
713.75
],
"projected_center_px": [
1042.116943359375,
715.8617553710938
],
"reprojection_error_px": 4.850742731925979,
"confidence": 0.6474934453081295
},
{
"marker_id": 79,
"observed_center_px": [
821.5,
736.75
],
"projected_center_px": [
823.07568359375,
737.3837280273438
],
"reprojection_error_px": 1.698349198561331,
"confidence": 0.6757834243292992
},
{
"marker_id": 96,
"observed_center_px": [
816.75,
827.25
],
"projected_center_px": [
813.3519287109375,
825.35205078125
],
"reprojection_error_px": 3.892184440966874,
"confidence": 0.6607187967743016
},
{
"marker_id": 55,
"observed_center_px": [
676.0,
745.75
],
"projected_center_px": [
673.7411499023438,
745.0980224609375
],
"reprojection_error_px": 2.3510590114081875,
"confidence": 0.6761108765479277
},
{
"marker_id": 72,
"observed_center_px": [
1346.5,
753.25
],
"projected_center_px": [
1346.86669921875,
751.9995727539062
],
"reprojection_error_px": 1.303087339668934,
"confidence": 0.63555573802114
},
{
"marker_id": 66,
"observed_center_px": [
508.0,
692.75
],
"projected_center_px": [
508.9798583984375,
692.468017578125
],
"reprojection_error_px": 1.019625699575581,
"confidence": 0.6609128878733954
},
{
"marker_id": 215,
"observed_center_px": [
889.0,
620.0
],
"projected_center_px": [
887.942626953125,
619.8024291992188
],
"reprojection_error_px": 1.075672804145882,
"confidence": 0.5262019857585625
},
{
"marker_id": 95,
"observed_center_px": [
612.75,
626.0
],
"projected_center_px": [
616.812744140625,
623.96875
],
"reprojection_error_px": 4.542231446622108,
"confidence": 0.635469764036539
},
{
"marker_id": 103,
"observed_center_px": [
690.0,
487.75
],
"projected_center_px": [
694.7654418945312,
487.73724365234375
],
"reprojection_error_px": 4.765458967881175,
"confidence": 0.5954680843098741
},
{
"marker_id": 82,
"observed_center_px": [
1357.0,
429.5
],
"projected_center_px": [
1358.3455810546875,
430.065185546875
],
"reprojection_error_px": 1.4594598580058027,
"confidence": 0.6091769266251292
},
{
"marker_id": 73,
"observed_center_px": [
1402.0,
418.5
],
"projected_center_px": [
1403.94921875,
418.8080139160156
],
"reprojection_error_px": 1.9734047501237153,
"confidence": 0.20712015505254394
},
{
"marker_id": 69,
"observed_center_px": [
538.5,
403.0
],
"projected_center_px": [
534.6666870117188,
406.0379638671875
],
"reprojection_error_px": 4.891166826480421,
"confidence": 0.5651459847123547
},
{
"marker_id": 210,
"observed_center_px": [
872.5,
307.25
],
"projected_center_px": [
872.4695434570312,
305.0369873046875
],
"reprojection_error_px": 2.213222264171383,
"confidence": 0.5713044658760732
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
428.5
],
"projected_center_px": [
632.5638427734375,
432.15264892578125
],
"reprojection_error_px": 3.6785971920412286,
"confidence": 0.5885499509109636
},
{
"marker_id": 64,
"observed_center_px": [
640.5,
337.75
],
"projected_center_px": [
641.1609497070312,
334.8717956542969
],
"reprojection_error_px": 2.9531194982338675,
"confidence": 0.5461129593472626
},
{
"marker_id": 52,
"observed_center_px": [
1190.25,
312.5
],
"projected_center_px": [
1186.4444580078125,
316.7993469238281
],
"reprojection_error_px": 5.741649051076943,
"confidence": 0.5743827506632194
},
{
"marker_id": 81,
"observed_center_px": [
1152.0,
375.75
],
"projected_center_px": [
1155.9031982421875,
376.66534423828125
],
"reprojection_error_px": 4.0090911179929885,
"confidence": 0.5489479990773077
},
{
"marker_id": 83,
"observed_center_px": [
1323.0,
208.5
],
"projected_center_px": [
1320.0592041015625,
208.17991638183594
],
"reprojection_error_px": 2.9581639641649042,
"confidence": 0.562745572281817
},
{
"marker_id": 61,
"observed_center_px": [
1280.25,
135.0
],
"projected_center_px": [
1283.0223388671875,
134.11473083496094
],
"reprojection_error_px": 2.9102515851876842,
"confidence": 0.5393477003090094
}
]
},
"qa": {
"sanity_notes": []
}
}

1449
data/camera_study/Scene7/k3_dfg/render_g_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

344
data/camera_study/Scene7/k3_dfg/render_g_camera_pose.json Normal file
View File

@@ -0,0 +1,344 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:17:35Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene7\\k3_dfg\\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": [
[
2006.321044921875,
0.0,
720.385009765625
],
[
0.0,
2007.03759765625,
541.6199340820312
],
[
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": 10,
"used_marker_ids": [
86,
64,
215,
69,
103,
95,
55,
85,
59,
80
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.012211970599231983,
0.001624686790215441,
0.001096816809744077,
0.0010967367431609408,
0.0010967367414136792
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 3.1153311943275073,
"residual_median_px": 2.29174302151767,
"residual_max_px": 5.639158651378318,
"sigma2_normalized": 1.7183306856665035e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
-0.7070202231407166,
-0.7071593403816223,
-0.006931936368346214
],
[
-0.6388823986053467,
0.6428983807563782,
-0.42250561714172363
],
[
0.30323532223701477,
-0.29429134726524353,
-0.9063338041305542
]
],
"translation_m": [
-0.0006485866033472121,
0.329395592212677,
1.3869478702545166
],
"rvec_rad": [
1.1116345202261342,
-2.6891904807982767,
0.5919699407140773
]
},
"camera_in_world": {
"position_m": [
-0.2105851173400879,
0.19594021141529083,
1.3962047100067139
],
"position_mm": [
-210.58511352539062,
195.94021606445312,
1396.2047119140625
],
"orientation_deg": {
"roll": -162.0111083984375,
"pitch": -17.652027130126953,
"yaw": -137.89817810058594
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.863828405835393e-05,
-3.6211350801545964e-05,
4.8904388350657714e-05,
3.902031216871867e-06,
1.7491374210548052e-06,
1.712453203844384e-05
],
[
-3.6211350801545814e-05,
8.118404691029837e-05,
-7.933524692416392e-05,
-1.1747414168787058e-05,
-4.0724295918695094e-06,
-3.864426055902944e-05
],
[
4.890438835065657e-05,
-7.9335246924162e-05,
0.0002459412534358799,
1.8168416763040778e-05,
-1.0371179617210202e-05,
8.063034255396228e-06
],
[
3.902031216871802e-06,
-1.1747414168786958e-05,
1.816841676304093e-05,
2.715358880963124e-06,
-1.784835635372693e-07,
3.476435485392543e-06
],
[
1.7491374210549396e-06,
-4.072429591869759e-06,
-1.0371179617209857e-05,
-1.7848356353722885e-07,
1.9579100162138867e-06,
5.080696601413939e-06
],
[
1.712453203844398e-05,
-3.864426055902985e-05,
8.063034255397583e-06,
3.4764354853926728e-06,
5.08069660141392e-06,
3.5481481736898976e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3066169283653536,
0.5162475227221713,
0.8985418791070087
],
"tvec_std_m": [
0.0016478346036429517,
0.001399253378132026,
0.005956633423075401
]
},
"camera_center_std_m": [
0.012704212536896875,
0.018985461301472058,
0.005906615726598309
],
"camera_center_std_mm": [
12.704212536896875,
18.985461301472057,
5.906615726598309
],
"orientation_std_deg": {
"roll": 0.8031787699995179,
"pitch": 0.5283201653633157,
"yaw": 0.23283827960495554
}
}
},
"observations": {
"markers": [
{
"marker_id": 86,
"observed_center_px": [
70.25,
959.25
],
"projected_center_px": [
70.90715026855469,
957.6599731445312
],
"reprojection_error_px": 1.7204743173245391,
"confidence": 0.5252370067816919
},
{
"marker_id": 64,
"observed_center_px": [
922.0,
859.25
],
"projected_center_px": [
923.3904418945312,
862.7029418945312
],
"reprojection_error_px": 3.7223831598959167,
"confidence": 0.5880291998801059
},
{
"marker_id": 215,
"observed_center_px": [
567.0,
692.5
],
"projected_center_px": [
567.061767578125,
692.2017211914062
],
"reprojection_error_px": 0.30460709342287967,
"confidence": 0.30921435771529826
},
{
"marker_id": 69,
"observed_center_px": [
976.75,
755.0
],
"projected_center_px": [
979.2584228515625,
749.949462890625
],
"reprojection_error_px": 5.639158651378318,
"confidence": 0.5311430345039768
},
{
"marker_id": 103,
"observed_center_px": [
801.5,
744.25
],
"projected_center_px": [
797.4208984375,
746.14306640625
],
"reprojection_error_px": 4.496973423944401,
"confidence": 0.5602433645983547
},
{
"marker_id": 95,
"observed_center_px": [
802.75,
598.5
],
"projected_center_px": [
800.469970703125,
601.06982421875
],
"reprojection_error_px": 3.4354810594562086,
"confidence": 0.4794892396931609
},
{
"marker_id": 55,
"observed_center_px": [
699.0,
531.25
],
"projected_center_px": [
700.8067626953125,
529.965087890625
],
"reprojection_error_px": 2.217068011133488,
"confidence": 0.4297136712444013
},
{
"marker_id": 85,
"observed_center_px": [
555.5,
319.5
],
"projected_center_px": [
555.5736083984375,
320.44488525390625
],
"reprojection_error_px": 0.947748035803827,
"confidence": 0.3806179715259906
},
{
"marker_id": 59,
"observed_center_px": [
425.0,
258.5
],
"projected_center_px": [
426.8974914550781,
257.249267578125
],
"reprojection_error_px": 2.2726208247800166,
"confidence": 0.3891556430833806
},
{
"marker_id": 80,
"observed_center_px": [
299.0,
56.75
],
"projected_center_px": [
296.78985595703125,
57.4248046875
],
"reprojection_error_px": 2.3108652182553238,
"confidence": 0.2191401054575686
}
]
},
"qa": {
"sanity_notes": []
}
}

77
data/camera_study/Scene7/k3_dfg/robot_state.eval.json Normal file
View File

@@ -0,0 +1,77 @@
{
"rows": [
{
"joint": "x",
"estimate": 10.078068935037924,
"gt": 30.0,
"error": 19.921931064962074,
"unit": "mm",
"observable": false,
"n_markers": 0
},
{
"joint": "y",
"estimate": 2.000510709076707,
"gt": -2.0,
"error": 4.000510709076707,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "z",
"estimate": 5.202592104218694,
"gt": 95.0,
"error": 89.7974078957813,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "a",
"estimate": 1.9657894323635188,
"gt": 20.0,
"error": 18.034210567636478,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "b",
"estimate": -44.13947611080051,
"gt": 23.0,
"error": 67.1394761108005,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "c",
"estimate": 88.70472473360489,
"gt": 9.0,
"error": 79.7047247336049,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "e",
"estimate": -316.14074063716964,
"gt": 9.0,
"error": 325.14074063716964,
"unit": "mm",
"observable": true,
"n_markers": 1
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 73.4221004222027,
"max_abs_deg": 79.7047247336049,
"mean_abs_mm": 325.14074063716964,
"max_abs_mm": 325.14074063716964,
"n_unobservable": 4,
"wrist_error_mm": null,
"finger_error_mm": null
}
}

58
data/camera_study/Scene7/k3_dfg/robot_state.json Normal file
View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:17:37Z",
"method": "hybrid",
"movements": {
"x": {
"value": 10.078068935037924,
"unit": "mm",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"y": {
"value": 2.000510709076707,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"z": {
"value": 5.202592104218694,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"a": {
"value": 1.9657894323635188,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"b": {
"value": -44.13947611080051,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"c": {
"value": 88.70472473360489,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"e": {
"value": -316.14074063716964,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 1
}
},
"residual_rms": 2.3003338861068547,
"num_markers": 11
}