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

1031
data/camera_study/Scene9/k4_acdf/aruco_marker_poses.json Normal file
View File

File diff suppressed because it is too large Load Diff

504
data/camera_study/Scene9/k4_acdf/aruco_positions_initial.json Normal file
View File

@@ -0,0 +1,504 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:28:50Z",
"summary": {
"num_cameras": 4,
"num_markers": 22,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3014392781131834,
-0.7976593540300962,
0.8090873924075274
],
"position_mm": [
-301.4392781131834,
-797.6593540300962,
809.0873924075273
],
"direction": [
0.478444904088974,
0.6539158821105957,
-0.5860755443572998
]
},
{
"camera_id": "c",
"position_m": [
0.3287264582676568,
-0.9186429714357892,
0.3564346556463644
],
"position_mm": [
328.72645826765677,
-918.6429714357893,
356.4346556463644
],
"direction": [
-0.13607342541217804,
0.9607956409454346,
-0.24156945943832397
]
},
{
"camera_id": "d",
"position_m": [
0.7029130020015959,
-0.7907698766672966,
0.4011397354766348
],
"position_mm": [
702.9130020015959,
-790.7698766672966,
401.13973547663477
],
"direction": [
-0.5559978485107422,
0.7807162404060364,
-0.28521665930747986
]
},
{
"camera_id": "f",
"position_m": [
0.4845048811903778,
-0.3053365075209884,
1.403362534392144
],
"position_mm": [
484.50488119037783,
-305.3365075209884,
1403.3625343921442
],
"direction": [
-0.2269427329301834,
0.08483054488897324,
-0.9702065587043762
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.21288133976114781,
-0.08127155884611076,
0.3467975428037435
],
"position_mm": [
212.8813397611478,
-81.27155884611076,
346.79754280374345
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2661259613683448,
-0.07526187474905749,
0.3386357792440141
],
"position_mm": [
266.1259613683448,
-75.26187474905748,
338.6357792440141
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 51,
"position_m": [
0.16771788217228745,
-0.17251892518430356,
-0.027592545532380573
],
"position_mm": [
167.71788217228746,
-172.51892518430355,
-27.592545532380573
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.339958390270554,
-0.32824701546942675,
-0.02691422577152041
],
"position_mm": [
339.95839027055405,
-328.24701546942674,
-26.91422577152041
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2846087614800939,
-0.2611787810032168,
-0.027282401821381575
],
"position_mm": [
284.6087614800939,
-261.1787810032168,
-27.282401821381576
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.047699659224711616,
-0.21624612638043686,
-0.028152398337176934
],
"position_mm": [
47.69965922471162,
-216.24612638043686,
-28.152398337176933
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4021786712058468,
-0.17311803798198852,
-0.02811880870688738
],
"position_mm": [
402.17867120584685,
-173.11803798198852,
-28.118808706887382
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01931457815746316,
-0.1890894328101985,
-0.026108515016641985
],
"position_mm": [
-19.31457815746316,
-189.0894328101985,
-26.108515016641984
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006002108913153802,
-0.27739159118252577,
-0.027722140190123607
],
"position_mm": [
6.002108913153801,
-277.39159118252576,
-27.722140190123607
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4419678533436276,
0.19375330969107105,
-0.027624844855126198
],
"position_mm": [
441.9678533436276,
193.75330969107105,
-27.6248448551262
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3119764856257087,
-0.1597777603562294,
-0.02675713842519185
],
"position_mm": [
311.9764856257087,
-159.7777603562294,
-26.75713842519185
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1871872686190157,
-0.27663763297531746,
-0.02653514787956797
],
"position_mm": [
187.1872686190157,
-276.63763297531744,
-26.53514787956797
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3721463242081747,
-0.18428926522614406,
-0.028347246453172
],
"position_mm": [
372.1463242081747,
-184.28926522614407,
-28.347246453171998
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10529918625210923,
-0.19050212219946208,
-0.02696470437692832
],
"position_mm": [
105.29918625210922,
-190.5021221994621,
-26.96470437692832
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2716251453630974,
-0.16131710600023497,
0.23290907411707742
],
"position_mm": [
271.6251453630974,
-161.31710600023496,
232.90907411707744
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35247100863400155,
-0.08964369441284724,
0.0017168490353765189
],
"position_mm": [
352.4710086340015,
-89.64369441284724,
1.716849035376519
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021180418538998196,
-0.02012857396225193,
0.001550985677598135
],
"position_mm": [
21.180418538998197,
-20.12857396225193,
1.5509856775981352
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2528680633133983,
-0.011224367711142966,
0.0008063621284953085
],
"position_mm": [
252.8680633133983,
-11.224367711142966,
0.8063621284953085
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34776073402412605,
-0.012468796577626076,
0.0013756747711843437
],
"position_mm": [
347.76073402412607,
-12.468796577626076,
1.3756747711843438
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.17080312948062298,
-0.17534160974514862,
0.04648120109655762
],
"position_mm": [
170.80312948062297,
-175.34160974514862,
46.481201096557626
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2630297446961479,
-0.17995804521763648,
0.053055149426680326
],
"position_mm": [
263.02974469614793,
-179.95804521763648,
53.05514942668032
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22608447232278653,
-0.1758234577552331,
0.0531579147296938
],
"position_mm": [
226.08447232278652,
-175.82345775523308,
53.1579147296938
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}

503
data/camera_study/Scene9/k4_acdf/aruco_positions_optimized.json Normal file
View File

@@ -0,0 +1,503 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:28:51Z",
"summary": {
"num_cameras": 4,
"num_markers": 22,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3014392781131834,
-0.7976593540300962,
0.8090873924075274
],
"position_mm": [
-301.4392781131834,
-797.6593540300962,
809.0873924075273
],
"direction": [
0.478444904088974,
0.6539158821105957,
-0.5860755443572998
]
},
{
"camera_id": "c",
"position_m": [
0.3287264582676568,
-0.9186429714357892,
0.3564346556463644
],
"position_mm": [
328.72645826765677,
-918.6429714357893,
356.4346556463644
],
"direction": [
-0.13607342541217804,
0.9607956409454346,
-0.24156945943832397
]
},
{
"camera_id": "d",
"position_m": [
0.7029130020015959,
-0.7907698766672966,
0.4011397354766348
],
"position_mm": [
702.9130020015959,
-790.7698766672966,
401.13973547663477
],
"direction": [
-0.5559978485107422,
0.7807162404060364,
-0.28521665930747986
]
},
{
"camera_id": "f",
"position_m": [
0.4845048811903778,
-0.3053365075209884,
1.403362534392144
],
"position_mm": [
484.50488119037783,
-305.3365075209884,
1403.3625343921442
],
"direction": [
-0.2269427329301834,
0.08483054488897324,
-0.9702065587043762
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.21295340432799809,
-0.08134560525199809,
0.34676465633991466
],
"position_mm": [
212.95340432799807,
-81.3456052519981,
346.76465633991467
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.26748419461688105,
-0.07555162966959135,
0.34062179003704374
],
"position_mm": [
267.48419461688104,
-75.55162966959135,
340.62179003704375
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 51,
"position_m": [
0.16776791477833136,
-0.1735261568709883,
-0.027105259896256714
],
"position_mm": [
167.76791477833137,
-173.5261568709883,
-27.105259896256715
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3400004607344842,
-0.3283125999665426,
-0.026911638083401537
],
"position_mm": [
340.0004607344842,
-328.3125999665426,
-26.911638083401538
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28463443759865753,
-0.2612150005241861,
-0.027284636103284524
],
"position_mm": [
284.63443759865754,
-261.2150005241861,
-27.284636103284523
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048252468613801655,
-0.21617481809728506,
-0.02825499114487068
],
"position_mm": [
48.25246861380165,
-216.17481809728505,
-28.254991144870683
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40386524463269474,
-0.17077561786478715,
-0.029697966091757216
],
"position_mm": [
403.8652446326947,
-170.77561786478714,
-29.697966091757216
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022618824762393044,
-0.18515562561663068,
-0.02859992456022761
],
"position_mm": [
-22.618824762393043,
-185.1556256166307,
-28.59992456022761
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005187900364926809,
-0.2788731942650693,
-0.027550054095189732
],
"position_mm": [
5.187900364926809,
-278.8731942650693,
-27.550054095189733
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44197325767064394,
0.19374844069845626,
-0.027627581575871345
],
"position_mm": [
441.97325767064393,
193.74844069845625,
-27.627581575871346
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3130767081022614,
-0.15868492942911414,
-0.02691555975518297
],
"position_mm": [
313.0767081022614,
-158.68492942911413,
-26.91555975518297
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18653483633087306,
-0.2754188970050817,
-0.02768660321278121
],
"position_mm": [
186.53483633087305,
-275.4188970050817,
-27.68660321278121
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.370564545034882,
-0.18602738756150958,
-0.026821159898887708
],
"position_mm": [
370.56454503488203,
-186.02738756150958,
-26.821159898887707
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10579192533631554,
-0.1895941926964775,
-0.027618346576335943
],
"position_mm": [
105.79192533631554,
-189.5941926964775,
-27.61834657633594
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.27347070894118736,
-0.16137470186443054,
0.2338561394838765
],
"position_mm": [
273.47070894118735,
-161.37470186443053,
233.85613948387652
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.352869638720293,
-0.09145725788305166,
0.002345588216271336
],
"position_mm": [
352.869638720293,
-91.45725788305165,
2.3455882162713357
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02152169006086301,
-0.01781689771088892,
-4.017965590003997e-05
],
"position_mm": [
21.52169006086301,
-17.81689771088892,
-0.040179655900039975
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2529232846849509,
-0.011193526795391302,
0.0008042999338933936
],
"position_mm": [
252.9232846849509,
-11.193526795391302,
0.8042999338933936
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3474652097079566,
-0.011653319287869626,
0.0008889542972195948
],
"position_mm": [
347.4652097079566,
-11.653319287869627,
0.8889542972195948
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1720609036164841,
-0.17596498913279035,
0.04582023157488631
],
"position_mm": [
172.0609036164841,
-175.96498913279035,
45.82023157488631
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.26394707886688623,
-0.1817524631662673,
0.05379833069978786
],
"position_mm": [
263.9470788668862,
-181.75246316626732,
53.79833069978786
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22699249316704756,
-0.17571560390676985,
0.051758878067548385
],
"position_mm": [
226.99249316704757,
-175.71560390676984,
51.75887806754839
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}

1702
data/camera_study/Scene9/k4_acdf/render_a_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

355
data/camera_study/Scene9/k4_acdf/render_a_camera_pose.json Normal file
View File

@@ -0,0 +1,355 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:28:49Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k4_acdf\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "a",
"camera_matrix": [
[
1992.8416748046875,
0.0,
719.249267578125
],
[
0.0,
1997.40380859375,
537.7935791015625
],
[
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,
103,
54,
51,
55,
210,
85,
96,
62,
217,
72
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.012596611338444681,
0.001823459559382797,
0.0013336547633117414,
0.001333617704124427
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.7740966455353937,
"residual_median_px": 3.212772940593517,
"residual_max_px": 6.202529448643419,
"sigma2_normalized": 2.445487248334908e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.806882381439209,
-0.5907120704650879,
-0.0003876964037772268
],
[
-0.3464553952217102,
-0.472708523273468,
-0.8102563619613647
],
[
0.478444904088974,
0.6539158821105957,
-0.5860755443572998
]
],
"translation_m": [
-0.22764724493026733,
0.17407254874706268,
1.1400104761123657
],
"rvec_rad": [
2.109480425106677,
-0.6898696845922361,
0.35190848901829686
]
},
"camera_in_world": {
"position_m": [
-0.3014392852783203,
-0.7976593375205994,
0.8090873956680298
],
"position_mm": [
-301.43927001953125,
-797.6593627929688,
809.08740234375
],
"orientation_deg": {
"roll": 131.8684539794922,
"pitch": -28.58388328552246,
"yaw": -23.237491607666016
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.7725908954999174e-05,
-4.336264240020541e-06,
2.874379737299334e-06,
1.42455613611222e-06,
-3.3997305965027654e-07,
8.780625583276048e-06
],
[
-4.33626424002045e-06,
1.235339583308422e-05,
-3.1382503086935615e-07,
-4.810377606184651e-07,
-2.884469935618526e-06,
-2.757182922057696e-07
],
[
2.8743797372994927e-06,
-3.1382503086937383e-07,
6.421520255144679e-05,
1.589852417802596e-06,
-1.0313586967674234e-05,
-2.639986584739018e-05
],
[
1.424556136112218e-06,
-4.810377606184746e-07,
1.5898524178026153e-06,
5.25158373021709e-07,
2.4601732546295158e-08,
9.242146393941159e-07
],
[
-3.399730596503203e-07,
-2.8844699356185343e-06,
-1.0313586967674231e-05,
2.4601732546296564e-08,
3.0101863708973597e-06,
6.130349421653036e-06
],
[
8.780625583275953e-06,
-2.7571829220583174e-07,
-2.639986584739021e-05,
9.242146393941262e-07,
6.1303494216530616e-06,
2.6354114554486426e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.3519188166004146,
0.20137975639338104,
0.45913622673796917
],
"tvec_std_m": [
0.000724678116836509,
0.0017349888676580492,
0.005133625868183854
]
},
"camera_center_std_m": [
0.006010664624785401,
0.007049372056075051,
0.007045635883701703
],
"camera_center_std_mm": [
6.010664624785401,
7.04937205607505,
7.045635883701703
],
"orientation_std_deg": {
"roll": 0.3204280070795569,
"pitch": 0.330959843866862,
"yaw": 0.2352878178703698
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
880.75,
1030.75
],
"projected_center_px": [
877.2113647460938,
1028.1080322265625
],
"reprojection_error_px": 4.416099316825931,
"confidence": 0.48062443979044517
},
{
"marker_id": 103,
"observed_center_px": [
661.25,
999.5
],
"projected_center_px": [
661.3468017578125,
995.8610229492188
],
"reprojection_error_px": 3.640264352547517,
"confidence": 0.8492473171954678
},
{
"marker_id": 54,
"observed_center_px": [
1154.75,
960.75
],
"projected_center_px": [
1160.31884765625,
961.8600463867188
],
"reprojection_error_px": 5.678403578400224,
"confidence": 0.7156057017530675
},
{
"marker_id": 51,
"observed_center_px": [
736.25,
928.75
],
"projected_center_px": [
735.9454345703125,
928.0528564453125
],
"reprojection_error_px": 0.7607688458415308,
"confidence": 0.7281251715798226
},
{
"marker_id": 55,
"observed_center_px": [
997.5,
932.0
],
"projected_center_px": [
997.8427734375,
934.1776123046875
],
"reprojection_error_px": 2.2044248635374197,
"confidence": 0.8146776238253017
},
{
"marker_id": 210,
"observed_center_px": [
369.0,
845.25
],
"projected_center_px": [
368.6568908691406,
848.1165771484375
],
"reprojection_error_px": 2.8870380017629045,
"confidence": 0.5810048492836246
},
{
"marker_id": 85,
"observed_center_px": [
1335.25,
821.75
],
"projected_center_px": [
1329.0474853515625,
821.7364501953125
],
"reprojection_error_px": 6.202529448643419,
"confidence": 0.563942625830182
},
{
"marker_id": 96,
"observed_center_px": [
1017.5,
792.5
],
"projected_center_px": [
1017.1517944335938,
795.69384765625
],
"reprojection_error_px": 3.212772940593517,
"confidence": 0.630176526311095
},
{
"marker_id": 62,
"observed_center_px": [
1041.25,
762.75
],
"projected_center_px": [
1045.972900390625,
762.3524169921875
],
"reprojection_error_px": 4.739605505510665,
"confidence": 0.5408087705459368
},
{
"marker_id": 217,
"observed_center_px": [
1219.5,
526.75
],
"projected_center_px": [
1220.9332275390625,
525.1178588867188
],
"reprojection_error_px": 2.172101699366332,
"confidence": 0.38635420079609184
},
{
"marker_id": 72,
"observed_center_px": [
738.5,
473.25
],
"projected_center_px": [
737.1273193359375,
473.02313232421875
],
"reprojection_error_px": 1.3913019614035813,
"confidence": 0.2699080271668978
}
]
},
"qa": {
"sanity_notes": []
}
}

1041
data/camera_study/Scene9/k4_acdf/render_c_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

291
data/camera_study/Scene9/k4_acdf/render_c_camera_pose.json Normal file
View File

@@ -0,0 +1,291 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:28:49Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k4_acdf\\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": 6,
"used_marker_ids": [
58,
96,
62,
64,
103,
79
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5
],
"rms": [
0.008349413376415336,
0.0016504880280259497,
0.0015759798504030179,
0.0015755701165085163,
0.0015755629520037386,
0.0015755629202711871
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 4.462444988553178,
"residual_median_px": 2.9957948456372425,
"residual_max_px": 7.261467136704596,
"sigma2_normalized": 4.9647970313112095e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9905201196670532,
0.13657259941101074,
-0.014758122153580189
],
[
0.018812227994203568,
-0.24128760397434235,
-0.9702712893486023
],
[
-0.13607342541217804,
0.9607956409454346,
-0.24156945943832397
]
],
"translation_m": [
-0.1948884129524231,
0.11799708753824234,
1.013462781906128
],
"rvec_rad": [
1.812587441803086,
0.11387206766058035,
-0.11053524561415286
]
},
"camera_in_world": {
"position_m": [
0.32872647047042847,
-0.9186429977416992,
0.3564346432685852
],
"position_mm": [
328.7264709472656,
-918.6430053710938,
356.43463134765625
],
"orientation_deg": {
"roll": 104.1131362915039,
"pitch": 7.820694923400879,
"yaw": 1.0880461931228638
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0033297643910965512,
4.5538087618852444e-05,
-7.692681882483746e-05,
-1.2456399300444454e-05,
-0.0006192036523822213,
-0.00023806607634638158
],
[
4.553808761882524e-05,
0.000330429340101458,
-0.0006769712996470649,
9.693915508172016e-05,
4.1581619517906127e-07,
5.77560865446087e-05
],
[
-7.692681882477907e-05,
-0.0006769712996470649,
0.0015263263520935051,
-0.00020916352022384553,
-1.5661095106955834e-05,
-0.0001281815591286064
],
[
-1.2456399300452609e-05,
9.693915508171994e-05,
-0.00020916352022384512,
2.9970737255150626e-05,
5.76993475798201e-06,
1.9321909318967827e-05
],
[
-0.000619203652382222,
4.158161951740297e-07,
-1.5661095106945012e-05,
5.769934757980506e-06,
0.00011768022806462987,
4.981194329171975e-05
],
[
-0.0002380660763463879,
5.775608654460635e-05,
-0.00012818155912860127,
1.9321909318967163e-05,
4.981194329172085e-05,
4.2160344823719006e-05
]
],
"parameter_std": {
"rvec_std_deg": [
3.3062020033771,
1.0415063782403142,
2.238444513684183
],
"tvec_std_m": [
0.005474553612409931,
0.010848051809639825,
0.006493099785442929
]
},
"camera_center_std_m": [
0.03154393435586156,
0.02328885529001911,
0.04348494417010275
],
"camera_center_std_mm": [
31.54393435586156,
23.28885529001911,
43.48494417010275
],
"orientation_std_deg": {
"roll": 3.5307199195496453,
"pitch": 2.073501762713676,
"yaw": 0.5915145501472072
}
}
},
"observations": {
"markers": [
{
"marker_id": 58,
"observed_center_px": [
283.25,
1033.75
],
"projected_center_px": [
285.780029296875,
1034.0025634765625
],
"reprojection_error_px": 2.5426042855189133,
"confidence": 0.3455642187784726
},
{
"marker_id": 96,
"observed_center_px": [
1097.25,
1038.25
],
"projected_center_px": [
1089.9932861328125,
1037.9873046875
],
"reprojection_error_px": 7.261467136704596,
"confidence": 0.24498606281991034
},
{
"marker_id": 62,
"observed_center_px": [
1171.5,
1028.25
],
"projected_center_px": [
1177.9298095703125,
1029.019775390625
],
"reprojection_error_px": 6.475724304083219,
"confidence": 0.37942062793404846
},
{
"marker_id": 64,
"observed_center_px": [
149.75,
989.75
],
"projected_center_px": [
147.2631072998047,
991.4095458984375
],
"reprojection_error_px": 2.989770541580986,
"confidence": 0.5991514656644388
},
{
"marker_id": 103,
"observed_center_px": [
439.5,
1008.25
],
"projected_center_px": [
440.82305908203125,
1005.5554809570312
],
"reprojection_error_px": 3.001819149693499,
"confidence": 0.5496098643171499
},
{
"marker_id": 79,
"observed_center_px": [
946.25,
998.25
],
"projected_center_px": [
945.6839599609375,
998.5358276367188
],
"reprojection_error_px": 0.6341125797002471,
"confidence": 0.4739639622362142
}
]
},
"qa": {
"sanity_notes": []
}
}

1099
data/camera_study/Scene9/k4_acdf/render_d_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

299
data/camera_study/Scene9/k4_acdf/render_d_camera_pose.json Normal file
View File

@@ -0,0 +1,299 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:28:50Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k4_acdf\\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": 7,
"used_marker_ids": [
95,
208,
69,
51,
103,
214,
211
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.008188696345242167,
0.0018694817429455886,
0.0018373125816728525,
0.0018373121099168372
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 5.199280170969751,
"residual_median_px": 5.638632809088584,
"residual_max_px": 6.820089134729525,
"sigma2_normalized": 5.907502631029793e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8147047162055969,
0.5798754096031189,
-0.0008973124204203486
],
[
0.1646895855665207,
-0.23286625742912292,
-0.958462655544281
],
[
-0.5559978485107422,
0.7807162404060364,
-0.28521665930747986
]
],
"translation_m": [
-0.11375858634710312,
0.08457139134407043,
1.1225967407226562
],
"rvec_rad": [
1.7929989226630128,
0.5722784971576711,
-0.42803400696915006
]
},
"camera_in_world": {
"position_m": [
0.7029129862785339,
-0.7907698750495911,
0.4011397361755371
],
"position_mm": [
702.9129638671875,
-790.7698974609375,
401.1397399902344
],
"orientation_deg": {
"roll": 110.068603515625,
"pitch": 33.77947235107422,
"yaw": 11.428130149841309
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.0003111379966124668,
9.472497916692324e-05,
8.779460832805294e-05,
-3.958542663949911e-06,
-7.135325634092011e-05,
-1.1969085520221157e-05
],
[
9.472497916692374e-05,
0.00012716703631632546,
-8.804590578879433e-05,
2.5527985145289416e-05,
-2.5336695203193423e-05,
5.771898809471573e-06
],
[
8.779460832805497e-05,
-8.804590578879483e-05,
0.00032574713158616453,
-4.848568180738122e-05,
-2.661952222608106e-05,
-2.440613768406124e-05
],
[
-3.958542663950026e-06,
2.5527985145289467e-05,
-4.848568180738104e-05,
9.605206442999074e-06,
7.635694310285047e-07,
2.645490211630807e-06
],
[
-7.135325634092047e-05,
-2.5336695203193355e-05,
-2.6619522226080837e-05,
7.635694310285125e-07,
1.8740214539134888e-05,
7.662445948412546e-06
],
[
-1.1969085520221808e-05,
5.771898809471372e-06,
-2.440613768406123e-05,
2.645490211630829e-06,
7.662445948412675e-06,
2.6216022887703195e-05
]
],
"parameter_std": {
"rvec_std_deg": [
1.010646224457074,
0.6461151246731555,
1.0341009390137754
],
"tvec_std_m": [
0.00309922674920682,
0.004328996943765945,
0.0051201584826744565
]
},
"camera_center_std_m": [
0.013268855013594968,
0.01117814668575118,
0.01621827264682108
],
"camera_center_std_mm": [
13.268855013594969,
11.17814668575118,
16.21827264682108
],
"orientation_std_deg": {
"roll": 1.3532625495946415,
"pitch": 0.9637067987327874,
"yaw": 0.8241207333085551
}
}
},
"observations": {
"markers": [
{
"marker_id": 95,
"observed_center_px": [
421.5,
1048.25
],
"projected_center_px": [
422.6895751953125,
1046.1839599609375
],
"reprojection_error_px": 2.3840324218248687,
"confidence": 0.20059440065661768
},
{
"marker_id": 208,
"observed_center_px": [
1004.0,
919.25
],
"projected_center_px": [
997.8126831054688,
920.9627075195312
],
"reprojection_error_px": 6.419988894134531,
"confidence": 0.5701206199530169
},
{
"marker_id": 69,
"observed_center_px": [
128.0,
929.75
],
"projected_center_px": [
123.50090026855469,
933.1488647460938
],
"reprojection_error_px": 5.638632809088584,
"confidence": 0.6485521925210277
},
{
"marker_id": 51,
"observed_center_px": [
549.5,
937.5
],
"projected_center_px": [
550.411376953125,
936.3912963867188
],
"reprojection_error_px": 1.4352113617130782,
"confidence": 0.7026612913493538
},
{
"marker_id": 103,
"observed_center_px": [
419.5,
914.75
],
"projected_center_px": [
425.71990966796875,
912.6949462890625
],
"reprojection_error_px": 6.550612340272405,
"confidence": 0.7296444872984649
},
{
"marker_id": 214,
"observed_center_px": [
1073.0,
853.25
],
"projected_center_px": [
1079.6612548828125,
854.7133178710938
],
"reprojection_error_px": 6.820089134729525,
"confidence": 0.43104882288349655
},
{
"marker_id": 211,
"observed_center_px": [
896.5,
804.25
],
"projected_center_px": [
892.3373413085938,
802.9378051757812
],
"reprojection_error_px": 4.36458275644379,
"confidence": 0.3830481293947153
}
]
},
"qa": {
"sanity_notes": []
}
}

2266
data/camera_study/Scene9/k4_acdf/render_f_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

621
data/camera_study/Scene9/k4_acdf/render_f_camera_pose.json Normal file
View File

@@ -0,0 +1,621 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:28:50Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k4_acdf\\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": 30,
"used_marker_ids": [
68,
208,
46,
96,
62,
47,
56,
53,
97,
54,
79,
72,
55,
214,
66,
95,
58,
73,
69,
103,
82,
211,
210,
52,
64,
101,
83,
75,
81,
61
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.008996982418136016,
0.0014451338059425427,
0.0013743895095156555,
0.0013743884263288742
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.8961242804047163,
"residual_median_px": 3.6888392114084647,
"residual_max_px": 6.0936814013923755,
"sigma2_normalized": 2.0988261615622504e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.31795981526374817,
0.9480658769607544,
0.008520122617483139
],
[
0.9205425381660461,
-0.3065531253814697,
-0.2421293705701828
],
[
-0.2269427329301834,
0.08483054488897324,
-0.9702065587043762
]
],
"translation_m": [
0.12346923351287842,
-0.19981391727924347,
1.4974082708358765
],
"rvec_rad": [
2.378780179068341,
1.713097962756157,
-0.20024491374618786
]
},
"camera_in_world": {
"position_m": [
0.4845048785209656,
-0.30533650517463684,
1.403362512588501
],
"position_mm": [
484.5048828125,
-305.3365173339844,
1403.362548828125
],
"orientation_deg": {
"roll": 175.00302124023438,
"pitch": 13.117142677307129,
"yaw": 70.94483947753906
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.9691470873679275e-05,
1.7159805341476083e-05,
-9.313977980254098e-07,
-2.5154747625068364e-07,
2.0968802111840617e-07,
2.0152310406539227e-06
],
[
1.715980534147607e-05,
1.5234303378911558e-05,
-2.7816309966949486e-06,
5.580045420508028e-07,
-2.4999377179811203e-08,
1.7649612145935926e-06
],
[
-9.313977980246236e-07,
-2.781630996694005e-06,
0.00014510977788222988,
1.1037544122038043e-06,
-1.9387219603280184e-06,
-2.562338981443127e-05
],
[
-2.5154747625066924e-07,
5.580045420508135e-07,
1.1037544122037325e-06,
3.2040356684237866e-07,
-2.520363793308792e-08,
3.0637744040117307e-07
],
[
2.0968802111840188e-07,
-2.4999377179836657e-08,
-1.9387219603280455e-06,
-2.520363793309122e-08,
1.8653493721076195e-07,
4.6733801643876455e-07
],
[
2.0152310406537876e-06,
1.7649612145934306e-06,
-2.562338981443134e-05,
3.0637744040115867e-07,
4.673380164387572e-07,
8.496100059257366e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.31220401843234347,
0.22363199205457215,
0.6901936686761029
],
"tvec_std_m": [
0.0005660420186190939,
0.00043189690576659836,
0.002914807036367479
]
},
"camera_center_std_m": [
0.010362800540726682,
0.011127032575491518,
0.004622257120951852
],
"camera_center_std_mm": [
10.362800540726683,
11.127032575491517,
4.622257120951852
],
"orientation_std_deg": {
"roll": 0.39629886885659826,
"pitch": 0.3911386158392213,
"yaw": 0.07155292327603482
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
1395.5,
941.75
],
"projected_center_px": [
1389.548095703125,
940.4431762695312
],
"reprojection_error_px": 6.0936814013923755,
"confidence": 0.31452284382469436
},
{
"marker_id": 208,
"observed_center_px": [
936.75,
754.0
],
"projected_center_px": [
935.06982421875,
751.3572387695312
],
"reprojection_error_px": 3.1316413551311633,
"confidence": 0.7442305341015119
},
{
"marker_id": 46,
"observed_center_px": [
1383.5,
882.5
],
"projected_center_px": [
1388.0828857421875,
883.2381591796875
],
"reprojection_error_px": 4.641952250993368,
"confidence": 0.48925581764503895
},
{
"marker_id": 96,
"observed_center_px": [
816.5,
827.0
],
"projected_center_px": [
812.7360229492188,
825.475341796875
],
"reprojection_error_px": 4.061047386471164,
"confidence": 0.7490351334084672
},
{
"marker_id": 62,
"observed_center_px": [
845.5,
862.75
],
"projected_center_px": [
844.1776123046875,
867.2413330078125
],
"reprojection_error_px": 4.681963413332059,
"confidence": 0.7304654026989732
},
{
"marker_id": 47,
"observed_center_px": [
665.0,
836.0
],
"projected_center_px": [
667.7066650390625,
836.0575561523438
],
"reprojection_error_px": 2.707276924209236,
"confidence": 0.7493333333333333
},
{
"marker_id": 56,
"observed_center_px": [
1342.0,
843.75
],
"projected_center_px": [
1345.0384521484375,
839.529296875
],
"reprojection_error_px": 5.200627493652013,
"confidence": 0.6997474965237934
},
{
"marker_id": 53,
"observed_center_px": [
1400.0,
805.75
],
"projected_center_px": [
1394.7271728515625,
803.6259155273438
],
"reprojection_error_px": 5.684579226669193,
"confidence": 0.2519090987485656
},
{
"marker_id": 97,
"observed_center_px": [
554.5,
818.0
],
"projected_center_px": [
552.393798828125,
815.483154296875
],
"reprojection_error_px": 3.281858569430803,
"confidence": 0.7363629300822377
},
{
"marker_id": 54,
"observed_center_px": [
610.0,
848.75
],
"projected_center_px": [
607.6627197265625,
853.2195434570312
],
"reprojection_error_px": 5.043778126651779,
"confidence": 0.714264135428559
},
{
"marker_id": 79,
"observed_center_px": [
821.25,
736.5
],
"projected_center_px": [
822.4546508789062,
737.515869140625
],
"reprojection_error_px": 1.575808951276701,
"confidence": 0.7019048773943901
},
{
"marker_id": 72,
"observed_center_px": [
1346.25,
753.5
],
"projected_center_px": [
1346.6517333984375,
751.7901000976562
],
"reprojection_error_px": 1.756458766796223,
"confidence": 0.6613219758870197
},
{
"marker_id": 55,
"observed_center_px": [
675.5,
745.75
],
"projected_center_px": [
673.168212890625,
745.327880859375
],
"reprojection_error_px": 2.3696868342313517,
"confidence": 0.7020871814203925
},
{
"marker_id": 214,
"observed_center_px": [
1037.25,
713.75
],
"projected_center_px": [
1041.412841796875,
715.8807373046875
],
"reprojection_error_px": 4.676461620434453,
"confidence": 0.6215166590211996
},
{
"marker_id": 66,
"observed_center_px": [
508.0,
692.75
],
"projected_center_px": [
508.533203125,
692.8386840820312
],
"reprojection_error_px": 0.5405279261199102,
"confidence": 0.6495010546156331
},
{
"marker_id": 95,
"observed_center_px": [
612.75,
626.25
],
"projected_center_px": [
616.2593383789062,
624.2844848632812
],
"reprojection_error_px": 4.022276172807491,
"confidence": 0.6495692240250537
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
428.5
],
"projected_center_px": [
631.9732055664062,
432.49700927734375
],
"reprojection_error_px": 4.126789305505082,
"confidence": 0.6273000253365986
},
{
"marker_id": 73,
"observed_center_px": [
1401.5,
418.5
],
"projected_center_px": [
1403.91455078125,
418.2334289550781
],
"reprojection_error_px": 2.4292211914985686,
"confidence": 0.2254298006852419
},
{
"marker_id": 69,
"observed_center_px": [
538.5,
403.25
],
"projected_center_px": [
534.1398315429688,
406.5040588378906
],
"reprojection_error_px": 5.440585252906562,
"confidence": 0.5722444514496055
},
{
"marker_id": 103,
"observed_center_px": [
690.0,
487.75
],
"projected_center_px": [
694.1534423828125,
488.0059509277344
],
"reprojection_error_px": 4.161321245079652,
"confidence": 0.5954680843098741
},
{
"marker_id": 82,
"observed_center_px": [
1356.5,
429.25
],
"projected_center_px": [
1358.2213134765625,
429.5571594238281
],
"reprojection_error_px": 1.748504216821368,
"confidence": 0.6066174083435619
},
{
"marker_id": 211,
"observed_center_px": [
991.75,
589.5
],
"projected_center_px": [
992.0311889648438,
585.610595703125
],
"reprojection_error_px": 3.899555489860301,
"confidence": 0.5344898758778558
},
{
"marker_id": 210,
"observed_center_px": [
871.75,
307.0
],
"projected_center_px": [
871.70166015625,
305.0990905761719
],
"reprojection_error_px": 1.9015239620084594,
"confidence": 0.5835587226236766
},
{
"marker_id": 52,
"observed_center_px": [
1190.5,
312.5
],
"projected_center_px": [
1186.0692138671875,
316.3983154296875
],
"reprojection_error_px": 5.901586985215348,
"confidence": 0.5798408315806451
},
{
"marker_id": 64,
"observed_center_px": [
640.5,
337.75
],
"projected_center_px": [
640.552490234375,
335.2122497558594
],
"reprojection_error_px": 2.538293033977863,
"confidence": 0.5461129593472626
},
{
"marker_id": 101,
"observed_center_px": [
1307.75,
303.75
],
"projected_center_px": [
1307.749267578125,
308.2303466796875
],
"reprojection_error_px": 4.480346739553604,
"confidence": 0.557547025024131
},
{
"marker_id": 83,
"observed_center_px": [
1323.0,
208.5
],
"projected_center_px": [
1319.9122314453125,
207.4698028564453
],
"reprojection_error_px": 3.255091519743365,
"confidence": 0.562745572281817
},
{
"marker_id": 75,
"observed_center_px": [
1108.0,
182.0
],
"projected_center_px": [
1111.2906494140625,
182.7562713623047
],
"reprojection_error_px": 3.3764359818767575,
"confidence": 0.5380549070504695
},
{
"marker_id": 81,
"observed_center_px": [
1152.5,
376.25
],
"projected_center_px": [
1155.4818115234375,
376.354736328125
],
"reprojection_error_px": 2.9836503916735575,
"confidence": 0.4138222621269631
},
{
"marker_id": 61,
"observed_center_px": [
1279.75,
135.0
],
"projected_center_px": [
1282.823974609375,
133.3727264404297
],
"reprojection_error_px": 3.4781229329566283,
"confidence": 0.5393477003090094
}
]
},
"qa": {
"sanity_notes": []
}
}

77
data/camera_study/Scene9/k4_acdf/robot_state.eval.json Normal file
View File

@@ -0,0 +1,77 @@
{
"rows": [
{
"joint": "x",
"estimate": 61.29215251178424,
"gt": 60.0,
"error": 1.2921525117842378,
"unit": "mm",
"observable": true,
"n_markers": 1
},
{
"joint": "y",
"estimate": -2.0671117745207894,
"gt": -2.0,
"error": 0.06711177452078232,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "z",
"estimate": 94.44133636063226,
"gt": 95.0,
"error": 0.5586636393677509,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "a",
"estimate": -159.3106551174545,
"gt": 200.0,
"error": 0.6893448825454698,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "b",
"estimate": 60.68478256848317,
"gt": 60.0,
"error": 0.6847825684831719,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "c",
"estimate": 8.848884139143722,
"gt": 9.0,
"error": 0.15111586085626527,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "e",
"estimate": 9.047136536576033,
"gt": 8.0,
"error": 1.0471365365760334,
"unit": "mm",
"observable": true,
"n_markers": 2
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 0.430203745154688,
"max_abs_deg": 0.6893448825454698,
"mean_abs_mm": 1.1696445241801356,
"max_abs_mm": 1.2921525117842378,
"n_unobservable": 0,
"wrist_error_mm": 3.0131616693681127,
"finger_error_mm": 3.6868002059698517
}
}

58
data/camera_study/Scene9/k4_acdf/robot_state.json Normal file
View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:28:53Z",
"method": "hybrid",
"movements": {
"x": {
"value": 61.29215251178424,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"y": {
"value": -2.0671117745207894,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"z": {
"value": 94.44133636063226,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 2
},
"a": {
"value": -159.3106551174545,
"unit": "deg",
"observable": true,
"confidence": "medium",
"n_markers": 1
},
"b": {
"value": 60.68478256848317,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"c": {
"value": 8.848884139143722,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"e": {
"value": 9.047136536576033,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 2
}
},
"residual_rms": 1.9913047627468878,
"num_markers": 22
}