script-arbeit und rendering merge

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

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,730 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:31:57Z",
"summary": {
"num_cameras": 6,
"num_markers": 32,
"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": "b",
"position_m": [
0.3044963064856628,
-0.8948174327872729,
1.2012475383268955
],
"position_mm": [
304.4963064856628,
-894.8174327872729,
1201.2475383268954
],
"direction": [
0.005024135112762451,
0.6242465972900391,
-0.7812111973762512
]
},
{
"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": "e",
"position_m": [
1.231553512896588,
-0.9094105466187785,
0.39759016852425577
],
"position_mm": [
1231.553512896588,
-909.4105466187785,
397.5901685242558
],
"direction": [
-0.7645778059959412,
0.5944018959999084,
-0.24921302497386932
]
},
{
"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": 47,
"position_m": [
0.3436019419754138,
-0.28835690622088617,
-0.027617276751238894
],
"position_mm": [
343.6019419754138,
-288.3569062208862,
-27.617276751238894
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6868420791931743,
-0.3179988481385965,
-0.02865563495419314
],
"position_mm": [
686.8420791931743,
-317.99884813859654,
-28.65563495419314
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"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": 53,
"position_m": [
0.4887685690043798,
0.21533064890943004,
-0.027591163043034415
],
"position_mm": [
488.7685690043798,
215.33064890943004,
-27.591163043034413
],
"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": 56,
"position_m": [
0.5006511696910535,
0.16564623375411097,
-0.027747254170889007
],
"position_mm": [
500.6511696910535,
165.64623375411097,
-27.747254170889008
],
"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": 63,
"position_m": [
0.7756293236899854,
-0.23474314041978492,
-0.029090069045834624
],
"position_mm": [
775.6293236899854,
-234.7431404197849,
-29.090069045834625
],
"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": 75,
"position_m": [
-0.026849071150557367,
0.19199946163754056,
-0.025992768664680137
],
"position_mm": [
-26.849071150557368,
191.99946163754055,
-25.99276866468014
],
"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": 85,
"position_m": [
0.5062299128351762,
-0.3151783919291475,
-0.025733338039402424
],
"position_mm": [
506.22991283517615,
-315.1783919291475,
-25.733338039402422
],
"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": 102,
"position_m": [
0.6506091012667813,
-0.2241454371315432,
-0.026638961499146848
],
"position_mm": [
650.6091012667813,
-224.1454371315432,
-26.63896149914685
],
"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": [
0.2618483506961927,
-0.16952649199102454,
0.24720523985421783
],
"position_mm": [
261.8483506961927,
-169.52649199102453,
247.20523985421784
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17111938399697948,
-0.05171130902346422,
0.09099592485411864
],
"position_mm": [
171.11938399697948,
-51.71130902346422,
90.99592485411864
],
"link": "Arm1",
"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": 229,
"position_m": [
0.16702607747917514,
-0.14304605575794338,
0.08960388147420986
],
"position_mm": [
167.02607747917514,
-143.04605575794338,
89.60388147420986
],
"link": "Arm1",
"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": [
0.25942728567003903,
-0.18804859677937846,
0.0653983281156617
],
"position_mm": [
259.42728567003905,
-188.04859677937847,
65.3983281156617
],
"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
]
}
]
}

View File

@@ -0,0 +1,729 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:31:58Z",
"summary": {
"num_cameras": 6,
"num_markers": 32,
"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": "b",
"position_m": [
0.3044963064856628,
-0.8948174327872729,
1.2012475383268955
],
"position_mm": [
304.4963064856628,
-894.8174327872729,
1201.2475383268954
],
"direction": [
0.005024135112762451,
0.6242465972900391,
-0.7812111973762512
]
},
{
"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": "e",
"position_m": [
1.231553512896588,
-0.9094105466187785,
0.39759016852425577
],
"position_mm": [
1231.553512896588,
-909.4105466187785,
397.5901685242558
],
"direction": [
-0.7645778059959412,
0.5944018959999084,
-0.24921302497386932
]
},
{
"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": [
0.2143149009850494,
-0.08034957117986574,
0.3458834512312247
],
"position_mm": [
214.3149009850494,
-80.34957117986575,
345.88345123122474
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.26805171469257444,
-0.07540063235757868,
0.34074207024977193
],
"position_mm": [
268.0517146925744,
-75.40063235757869,
340.7420702497719
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.34409173117260927,
-0.28591819333052315,
-0.03354280709608712
],
"position_mm": [
344.0917311726093,
-285.91819333052314,
-33.54280709608712
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6867236535869299,
-0.31818578482688015,
-0.028789733720117946
],
"position_mm": [
686.7236535869299,
-318.18578482688014,
-28.789733720117948
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16787970318945383,
-0.17367276009686883,
-0.027030920909435017
],
"position_mm": [
167.87970318945383,
-173.67276009686884,
-27.030920909435018
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48800211976840335,
0.21076618366043878,
-0.021669658689650255
],
"position_mm": [
488.00211976840336,
210.76618366043877,
-21.669658689650255
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33944122667227306,
-0.32904938090970864,
-0.025648801432787968
],
"position_mm": [
339.44122667227305,
-329.04938090970865,
-25.648801432787966
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2842383828524411,
-0.26124146437648404,
-0.026896391138499967
],
"position_mm": [
284.2383828524411,
-261.24146437648403,
-26.89639113849997
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.5006383049546542,
0.16835477555019077,
-0.03138826221928473
],
"position_mm": [
500.63830495465425,
168.35477555019077,
-31.38826221928473
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048471461130401974,
-0.21646523918228944,
-0.02804452238786782
],
"position_mm": [
48.47146113040198,
-216.46523918228945,
-28.04452238786782
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4035977874772314,
-0.1709163858464914,
-0.029742388011300098
],
"position_mm": [
403.5977874772314,
-170.9163858464914,
-29.742388011300097
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.775815174201418,
-0.23448234305776583,
-0.028856022815528796
],
"position_mm": [
775.815174201418,
-234.48234305776583,
-28.856022815528796
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022426965079854626,
-0.18551563093880433,
-0.028806074839837797
],
"position_mm": [
-22.426965079854625,
-185.51563093880432,
-28.806074839837798
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005278746247264421,
-0.27907423636175366,
-0.027246093154335092
],
"position_mm": [
5.27874624726442,
-279.07423636175366,
-27.246093154335092
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44260731530082464,
0.19448954146998448,
-0.028301305498720612
],
"position_mm": [
442.60731530082467,
194.4895414699845,
-28.301305498720613
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.0268380157058966,
0.1919978783854355,
-0.025997685668853673
],
"position_mm": [
-26.838015705896602,
191.9978783854355,
-25.997685668853673
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31299628725612044,
-0.15882875420741174,
-0.026885260031473186
],
"position_mm": [
312.99628725612047,
-158.82875420741175,
-26.885260031473187
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5062335521132686,
-0.3152025617386562,
-0.025746069909754532
],
"position_mm": [
506.2335521132686,
-315.2025617386562,
-25.74606990975453
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18653226758136315,
-0.27558535116117994,
-0.027787519630856357
],
"position_mm": [
186.53226758136316,
-275.5853511611799,
-27.787519630856355
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3704095856483286,
-0.18632376664535794,
-0.02642809528126614
],
"position_mm": [
370.4095856483286,
-186.32376664535795,
-26.428095281266142
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6506219848125658,
-0.22412630383841795,
-0.026623811305582574
],
"position_mm": [
650.6219848125659,
-224.12630383841795,
-26.623811305582574
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10585388521011217,
-0.18954233123682984,
-0.027680425431191893
],
"position_mm": [
105.85388521011217,
-189.54233123682985,
-27.680425431191892
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.27312877346729875,
-0.16438098169285098,
0.23613634419684118
],
"position_mm": [
273.12877346729874,
-164.38098169285098,
236.13634419684118
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.1709567922393441,
-0.05190496290279242,
0.09140786747619299
],
"position_mm": [
170.95679223934408,
-51.90496290279242,
91.40786747619299
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3527040872459674,
-0.09153878206992012,
0.002348374632054494
],
"position_mm": [
352.7040872459674,
-91.53878206992013,
2.3483746320544943
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02155307061153668,
-0.018106079948612262,
-0.0004143022322805399
],
"position_mm": [
21.55307061153668,
-18.106079948612262,
-0.41430223228053986
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.252923284684936,
-0.011193526795356748,
0.000804299933873012
],
"position_mm": [
252.92328468493602,
-11.193526795356748,
0.804299933873012
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34758159355868007,
-0.011716203409925298,
0.0008944768465034303
],
"position_mm": [
347.5815935586801,
-11.716203409925297,
0.8944768465034304
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1655584136644331,
-0.14112044613605498,
0.08085061984705949
],
"position_mm": [
165.55841366443312,
-141.120446136055,
80.85061984705949
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1717795574316182,
-0.17544795621831505,
0.04573760019353064
],
"position_mm": [
171.7795574316182,
-175.44795621831506,
45.73760019353064
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2637409899433353,
-0.18393130452119832,
0.055469181099088126
],
"position_mm": [
263.7409899433353,
-183.9313045211983,
55.469181099088125
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22724909476554014,
-0.17605598301758554,
0.05192398438067639
],
"position_mm": [
227.24909476554015,
-176.05598301758553,
51.923984380676394
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,355 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,663 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:55Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": 33,
"used_marker_ids": [
48,
85,
54,
69,
71,
47,
59,
95,
55,
63,
102,
103,
64,
51,
92,
96,
79,
62,
205,
208,
210,
206,
214,
207,
75,
100,
76,
56,
94,
72,
53,
50,
86
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.013584604093124814,
0.0015843987487078846,
0.0012326707839050142,
0.0012326616884056252
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.4844376511401745,
"residual_median_px": 3.291786520119941,
"residual_max_px": 5.68517550484449,
"sigma2_normalized": 1.6714003217377913e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999291896820068,
-0.01156364381313324,
-0.0028094653971493244
],
[
-0.010787446983158588,
-0.7811417579650879,
-0.6242604851722717
],
[
0.005024135112762451,
0.6242465972900391,
-0.7812111973762512
]
],
"translation_m": [
-0.31144723296165466,
0.05419684946537018,
1.4954849481582642
],
"rvec_rad": [
2.467352046687118,
-0.015481089436408857,
0.0015339521200034975
]
},
"camera_in_world": {
"position_m": [
0.30449628829956055,
-0.8948174118995667,
1.2012474536895752
],
"position_mm": [
304.49627685546875,
-894.8173828125,
1201.2474365234375
],
"orientation_deg": {
"roll": 141.37249755859375,
"pitch": -0.28786295652389526,
"yaw": -0.6180949211120605
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.0942408350105723e-05,
1.0553495778133065e-08,
1.980558205902477e-06,
2.577650733542526e-07,
-3.452239784766689e-07,
9.606287477904375e-07
],
[
1.055349577815522e-08,
1.9534661750779637e-06,
-6.146789865147863e-07,
1.3424961647071607e-07,
-5.455762594044418e-07,
4.56741914005952e-07
],
[
1.980558205902492e-06,
-6.146789865147868e-07,
2.0110957714923363e-05,
2.746129066550435e-07,
-2.2790855885008376e-06,
-7.553028643816334e-06
],
[
2.5776507335425256e-07,
1.3424961647071647e-07,
2.7461290665503467e-07,
1.4512897979044244e-07,
-5.297926612443498e-08,
1.7298839804703728e-07
],
[
-3.4522397847667806e-07,
-5.455762594044418e-07,
-2.27908558850084e-06,
-5.2979266124435876e-08,
5.938915931758995e-07,
1.056211681620355e-06
],
[
9.606287477904314e-07,
4.567419140059514e-07,
-7.553028643816351e-06,
1.729883980470346e-07,
1.0562116816203562e-06,
5.649513938968402e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.18953049257612506,
0.08008027949551058,
0.2569443124324181
],
"tvec_std_m": [
0.00038095797641005293,
0.0007706436226790561,
0.002376870618895442
]
},
"camera_center_std_m": [
0.004963270024830336,
0.003805769953890478,
0.0038422413946987894
],
"camera_center_std_mm": [
4.9632700248303365,
3.805769953890478,
3.8422413946987892
],
"orientation_std_deg": {
"roll": 0.2019000932849153,
"pitch": 0.18827305691154508,
"yaw": 0.08256178128859527
}
}
},
"observations": {
"markers": [
{
"marker_id": 48,
"observed_center_px": [
1293.25,
1011.0
],
"projected_center_px": [
1296.923828125,
1014.7080688476562
],
"reprojection_error_px": 5.219845560071654,
"confidence": 0.6769166271324829
},
{
"marker_id": 85,
"observed_center_px": [
1019.75,
1007.75
],
"projected_center_px": [
1016.7266235351562,
1006.3353881835938
],
"reprojection_error_px": 3.337953241027693,
"confidence": 0.6859576703883983
},
{
"marker_id": 54,
"observed_center_px": [
768.5,
1030.5
],
"projected_center_px": [
772.7274780273438,
1034.30126953125
],
"reprojection_error_px": 5.68517550484449,
"confidence": 0.45099729493527263
},
{
"marker_id": 69,
"observed_center_px": [
270.25,
967.0
],
"projected_center_px": [
272.3615417480469,
971.8425903320312
],
"reprojection_error_px": 5.2829243490350475,
"confidence": 0.6810790771484375
},
{
"marker_id": 71,
"observed_center_px": [
1379.25,
964.75
],
"projected_center_px": [
1377.3331298828125,
962.9747314453125
],
"reprojection_error_px": 2.6126556388909474,
"confidence": 0.5211106905954719
},
{
"marker_id": 47,
"observed_center_px": [
773.0,
975.5
],
"projected_center_px": [
773.79052734375,
972.7685546875
],
"reprojection_error_px": 2.8435412739038366,
"confidence": 0.6409999109903972
},
{
"marker_id": 59,
"observed_center_px": [
1193.0,
954.5
],
"projected_center_px": [
1191.9739990234375,
957.6278076171875
],
"reprojection_error_px": 3.291786520119941,
"confidence": 0.6412858253535606
},
{
"marker_id": 95,
"observed_center_px": [
539.5,
962.75
],
"projected_center_px": [
538.8433837890625,
958.6599731445312
],
"reprojection_error_px": 4.142398402727761,
"confidence": 0.6090065437382148
},
{
"marker_id": 55,
"observed_center_px": [
684.75,
939.25
],
"projected_center_px": [
683.6355590820312,
941.4348754882812
],
"reprojection_error_px": 2.452684133543343,
"confidence": 0.6008976526738182
},
{
"marker_id": 63,
"observed_center_px": [
1398.0,
899.5
],
"projected_center_px": [
1402.369140625,
898.88037109375
],
"reprojection_error_px": 4.412859592428243,
"confidence": 0.2507367639652114
},
{
"marker_id": 102,
"observed_center_px": [
1214.75,
884.75
],
"projected_center_px": [
1212.9915771484375,
883.6930541992188
],
"reprojection_error_px": 2.0516299253730708,
"confidence": 0.5657302556798534
},
{
"marker_id": 103,
"observed_center_px": [
428.0,
851.75
],
"projected_center_px": [
429.8710021972656,
847.7644653320312
],
"reprojection_error_px": 4.402855415722116,
"confidence": 0.5307866153288032
},
{
"marker_id": 64,
"observed_center_px": [
250.75,
851.75
],
"projected_center_px": [
248.2621307373047,
850.7115478515625
],
"reprojection_error_px": 2.695899911506096,
"confidence": 0.5340019648682838
},
{
"marker_id": 51,
"observed_center_px": [
519.25,
829.25
],
"projected_center_px": [
519.6051025390625,
827.2780151367188
],
"reprojection_error_px": 2.0037021021746235,
"confidence": 0.5276385941813627
},
{
"marker_id": 92,
"observed_center_px": [
1200.0,
838.25
],
"projected_center_px": [
1197.369140625,
835.5260620117188
],
"reprojection_error_px": 3.786985504993001,
"confidence": 0.5416034617553136
},
{
"marker_id": 96,
"observed_center_px": [
808.0,
839.0
],
"projected_center_px": [
806.0516357421875,
841.7830200195312
],
"reprojection_error_px": 3.3972523765880234,
"confidence": 0.49057142713958135
},
{
"marker_id": 79,
"observed_center_px": [
722.5,
810.0
],
"projected_center_px": [
723.7965698242188,
809.0030517578125
],
"reprojection_error_px": 1.6355424502822868,
"confidence": 0.5226666666666667
},
{
"marker_id": 62,
"observed_center_px": [
850.25,
824.75
],
"projected_center_px": [
854.8566284179688,
827.111328125
],
"reprojection_error_px": 5.176571828454937,
"confidence": 0.49066144587566046
},
{
"marker_id": 205,
"observed_center_px": [
1332.0,
700.0
],
"projected_center_px": [
1328.533935546875,
699.9411010742188
],
"reprojection_error_px": 3.466564852512483,
"confidence": 0.48645690874990066
},
{
"marker_id": 208,
"observed_center_px": [
778.0,
704.75
],
"projected_center_px": [
774.7031860351562,
705.8525390625
],
"reprojection_error_px": 3.4762874885612014,
"confidence": 0.4461531673319199
},
{
"marker_id": 210,
"observed_center_px": [
330.75,
632.75
],
"projected_center_px": [
328.01715087890625,
632.5164184570312
],
"reprojection_error_px": 2.7428132739722813,
"confidence": 0.38486810600050964
},
{
"marker_id": 206,
"observed_center_px": [
1172.75,
612.5
],
"projected_center_px": [
1172.8785400390625,
612.4332885742188
],
"reprojection_error_px": 0.14482042663918737,
"confidence": 0.45441758511053976
},
{
"marker_id": 214,
"observed_center_px": [
769.0,
618.5
],
"projected_center_px": [
771.6251831054688,
616.759033203125
],
"reprojection_error_px": 3.150008210316244,
"confidence": 0.4166666666666667
},
{
"marker_id": 207,
"observed_center_px": [
1310.75,
612.5
],
"projected_center_px": [
1306.811767578125,
611.0142822265625
],
"reprojection_error_px": 4.209160475797462,
"confidence": 0.4331870083749633
},
{
"marker_id": 75,
"observed_center_px": [
304.25,
442.5
],
"projected_center_px": [
306.5346374511719,
441.27276611328125
],
"reprojection_error_px": 2.593389923634302,
"confidence": 0.269105230137358
},
{
"marker_id": 100,
"observed_center_px": [
1320.25,
453.0
],
"projected_center_px": [
1320.7890625,
450.9125671386719
],
"reprojection_error_px": 2.1559138038100625,
"confidence": 0.3034911052213101
},
{
"marker_id": 76,
"observed_center_px": [
1177.5,
455.5
],
"projected_center_px": [
1176.89990234375,
457.64825439453125
],
"reprojection_error_px": 2.230496388847014,
"confidence": 0.29698484802246095
},
{
"marker_id": 56,
"observed_center_px": [
950.0,
461.5
],
"projected_center_px": [
947.465576171875,
458.3980712890625
],
"reprojection_error_px": 4.005654237238426,
"confidence": 0.2953303108215332
},
{
"marker_id": 94,
"observed_center_px": [
1405.5,
447.5
],
"projected_center_px": [
1409.493408203125,
448.7391052246094
],
"reprojection_error_px": 4.181230779858999,
"confidence": 0.1100752638244629
},
{
"marker_id": 72,
"observed_center_px": [
875.75,
436.25
],
"projected_center_px": [
874.760986328125,
435.6054382324219
],
"reprojection_error_px": 1.1805117175950042,
"confidence": 0.27188424328625205
},
{
"marker_id": 53,
"observed_center_px": [
930.75,
416.25
],
"projected_center_px": [
928.1094970703125,
418.8367919921875
],
"reprojection_error_px": 3.696450802125418,
"confidence": 0.27188424328625205
},
{
"marker_id": 50,
"observed_center_px": [
1030.5,
418.25
],
"projected_center_px": [
1033.40625,
418.04266357421875
],
"reprojection_error_px": 2.913636465991553,
"confidence": 0.2795619311083096
},
{
"marker_id": 86,
"observed_center_px": [
775.5,
347.75
],
"projected_center_px": [
776.3545532226562,
350.9087219238281
],
"reprojection_error_px": 3.272275263853063,
"confidence": 0.2240937601513369
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,291 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:56Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,299 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:56Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": []
}
}

View File

@@ -0,0 +1,929 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:54Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "e",
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_e.npz",
"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
]
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_e.png",
"image_sha256": "d9e193a7ebfdc834b457481b21bdd82909e4f7f65bc5b83b21f2047847c37fa8",
"width_px": 1440,
"height_px": 1080
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 7,
"num_rejected_candidates": 20
},
"detections": [
{
"observation_id": "584d3038-5f40-4942-9bd4-85b3961177a8",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
"image_points_px": [
[
986.0,
1027.0
],
[
1023.0,
1012.0
],
[
1062.0,
1033.0
],
[
1026.0,
1050.0
]
],
"center_px": [
1024.25,
1030.5
],
"quality": {
"area_px": 1435.0,
"perimeter_px": 170.17254257202148,
"sharpness": {
"laplacian_var": 443.0578802474891
},
"contrast": {
"p05": 14.0,
"p95": 152.0,
"dynamic_range": 138.0,
"mean_gray": 73.32734530938124,
"std_gray": 50.16671438587517
},
"geometry": {
"distance_to_center_norm": 0.6413318514823914,
"distance_to_border_px": 30.0
},
"edge_ratio": 1.1589726701270886,
"edge_lengths_px": [
39.924930572509766,
44.29446792602539,
39.81205749511719,
46.14108657836914
]
},
"confidence": 0.49526620842323854
},
{
"observation_id": "caa9092d-3552-4901-a5a1-d23b04341b70",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
"image_points_px": [
[
1277.0,
1049.0
],
[
1308.0,
1032.0
],
[
1355.0,
1053.0
],
[
1324.0,
1071.0
]
],
"center_px": [
1316.0,
1051.25
],
"quality": {
"area_px": 1489.0,
"perimeter_px": 174.5745086669922,
"sharpness": {
"laplacian_var": 414.5545157010811
},
"contrast": {
"p05": 13.0,
"p95": 144.0,
"dynamic_range": 131.0,
"mean_gray": 61.8338081671415,
"std_gray": 49.185173651724405
},
"geometry": {
"distance_to_center_norm": 0.8724822998046875,
"distance_to_border_px": 9.0
},
"edge_ratio": 1.46778745364521,
"edge_lengths_px": [
35.35533905029297,
51.4781494140625,
35.84689712524414,
51.89412307739258
]
},
"confidence": 0.12173424671007582
},
{
"observation_id": "a90642b8-0a58-471a-9187-c41ef34037e4",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
"image_points_px": [
[
1072.0,
934.0
],
[
1107.0,
921.0
],
[
1141.0,
939.0
],
[
1110.0,
958.0
]
],
"center_px": [
1107.5,
938.0
],
"quality": {
"area_px": 1269.0,
"perimeter_px": 157.11080169677734,
"sharpness": {
"laplacian_var": 1145.8923760972457
},
"contrast": {
"p05": 34.0,
"p95": 155.0,
"dynamic_range": 121.0,
"mean_gray": 103.59931506849315,
"std_gray": 40.52619593063842
},
"geometry": {
"distance_to_center_norm": 0.6172022223472595,
"distance_to_border_px": 122.0
},
"edge_ratio": 1.2361180341518334,
"edge_lengths_px": [
37.336307525634766,
38.470767974853516,
36.359317779541016,
44.94440841674805
]
},
"confidence": 0.6844006612851383
},
{
"observation_id": "9177ad03-43aa-4aec-bbdd-a99f243e33af",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
720.0,
299.0
],
[
686.0,
296.0
],
[
686.0,
256.0
],
[
721.0,
258.0
]
],
"center_px": [
703.25,
277.25
],
"quality": {
"area_px": 1398.5,
"perimeter_px": 150.2013816833496,
"sharpness": {
"laplacian_var": 296.4175292361829
},
"contrast": {
"p05": 27.0,
"p95": 158.0,
"dynamic_range": 131.0,
"mean_gray": 65.09937238493724,
"std_gray": 49.756095058012725
},
"geometry": {
"distance_to_center_norm": 0.29253706336021423,
"distance_to_border_px": 256.0
},
"edge_ratio": 1.2015726361840438,
"edge_lengths_px": [
34.13209533691406,
40.0,
35.05709457397461,
41.01219177246094
]
},
"confidence": 0.7759275679697892
},
{
"observation_id": "4bb52ac3-34d7-4990-85d4-c2607b35bb81",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
"image_points_px": [
[
769.0,
598.0
],
[
739.0,
604.0
],
[
740.0,
564.0
],
[
770.0,
559.0
]
],
"center_px": [
754.5,
581.25
],
"quality": {
"area_px": 1179.5,
"perimeter_px": 140.0332431793213,
"sharpness": {
"laplacian_var": 105.56762517845712
},
"contrast": {
"p05": 9.0,
"p95": 85.0,
"dynamic_range": 76.0,
"mean_gray": 44.8138101109741,
"std_gray": 29.533505921966952
},
"geometry": {
"distance_to_center_norm": 0.05975063890218735,
"distance_to_border_px": 476.0
},
"edge_ratio": 1.315602796182545,
"edge_lengths_px": [
30.5941162109375,
40.01249694824219,
30.4138126373291,
39.0128173828125
]
},
"confidence": 0.4995224476665478
},
{
"observation_id": "50ea30d8-70af-4e8f-802b-687155bb1368",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
"image_points_px": [
[
686.0,
560.0
],
[
684.0,
594.0
],
[
661.0,
588.0
],
[
662.0,
550.0
]
],
"center_px": [
673.25,
573.0
],
"quality": {
"area_px": 858.0,
"perimeter_px": 121.8416576385498,
"sharpness": {
"laplacian_var": 612.6088721105556
},
"contrast": {
"p05": 32.0,
"p95": 173.0,
"dynamic_range": 141.0,
"mean_gray": 100.73400673400674,
"std_gray": 55.57743972607055
},
"geometry": {
"distance_to_center_norm": 0.06358199566602707,
"distance_to_border_px": 486.0
},
"edge_ratio": 1.5992255931404635,
"edge_lengths_px": [
34.058773040771484,
23.76972770690918,
38.01315689086914,
26.0
]
},
"confidence": 0.3576731153212353
},
{
"observation_id": "825182c1-df6b-40e3-9cc2-00d970cb9607",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
"image_points_px": [
[
789.0,
237.0
],
[
770.0,
240.0
],
[
771.0,
198.0
],
[
790.0,
196.0
]
],
"center_px": [
780.0,
217.75
],
"quality": {
"area_px": 786.0,
"perimeter_px": 121.36445045471191,
"sharpness": {
"laplacian_var": 137.66849025490973
},
"contrast": {
"p05": 7.0,
"p95": 68.0,
"dynamic_range": 61.0,
"mean_gray": 35.03345070422535,
"std_gray": 22.723319149346622
},
"geometry": {
"distance_to_center_norm": 0.36420905590057373,
"distance_to_border_px": 196.0
},
"edge_ratio": 2.1990034850468847,
"edge_lengths_px": [
19.235383987426758,
42.01190185546875,
19.10497283935547,
41.01219177246094
]
},
"confidence": 0.18169593759942643
}
],
"rejected_candidates": [
{
"image_points_px": [
[
777.0,
986.0
],
[
818.0,
973.0
],
[
849.0,
994.0
],
[
810.0,
1009.0
]
],
"center_px": [
813.5,
990.5
],
"area_px": 1328.0
},
{
"image_points_px": [
[
955.0,
949.0
],
[
989.0,
936.0
],
[
1024.0,
953.0
],
[
991.0,
967.0
]
],
"center_px": [
989.75,
951.25
],
"area_px": 1065.5
},
{
"image_points_px": [
[
727.0,
881.0
],
[
764.0,
870.0
],
[
792.0,
891.0
],
[
757.0,
904.0
]
],
"center_px": [
760.0,
886.5
],
"area_px": 1140.0
},
{
"image_points_px": [
[
818.0,
869.0
],
[
850.0,
858.0
],
[
887.0,
875.0
],
[
849.0,
885.0
]
],
"center_px": [
851.0,
871.75
],
"area_px": 934.5
},
{
"image_points_px": [
[
1244.0,
805.0
],
[
1274.0,
794.0
],
[
1312.0,
812.0
],
[
1282.0,
821.0
]
],
"center_px": [
1278.0,
808.0
],
"area_px": 890.0
},
{
"image_points_px": [
[
1115.0,
908.0
],
[
1148.0,
898.0
],
[
1182.0,
913.0
],
[
1154.0,
927.0
]
],
"center_px": [
1149.75,
911.5
],
"area_px": 956.5
},
{
"image_points_px": [
[
517.0,
788.0
],
[
550.0,
780.0
],
[
579.0,
794.0
],
[
540.0,
802.0
]
],
"center_px": [
546.5,
791.0
],
"area_px": 712.0
},
{
"image_points_px": [
[
495.0,
791.0
],
[
460.0,
801.0
],
[
438.0,
783.0
],
[
473.0,
774.0
]
],
"center_px": [
466.5,
787.25
],
"area_px": 821.5
},
{
"image_points_px": [
[
635.0,
778.0
],
[
604.0,
790.0
],
[
580.0,
773.0
],
[
612.0,
764.0
]
],
"center_px": [
607.75,
776.25
],
"area_px": 735.0
},
{
"image_points_px": [
[
614.0,
740.0
],
[
582.0,
748.0
],
[
561.0,
732.0
],
[
593.0,
725.0
]
],
"center_px": [
587.5,
736.25
],
"area_px": 653.5
},
{
"image_points_px": [
[
629.0,
538.0
],
[
650.0,
544.0
],
[
649.0,
581.0
],
[
629.0,
575.0
]
],
"center_px": [
639.25,
559.5
],
"area_px": 761.5
},
{
"image_points_px": [
[
754.0,
745.0
],
[
784.0,
736.0
],
[
806.0,
750.0
],
[
780.0,
761.0
]
],
"center_px": [
781.0,
748.0
],
"area_px": 660.0
},
{
"image_points_px": [
[
856.0,
760.0
],
[
829.0,
768.0
],
[
802.0,
756.0
],
[
830.0,
748.0
]
],
"center_px": [
829.25,
758.0
],
"area_px": 542.0
},
{
"image_points_px": [
[
851.0,
659.0
],
[
880.0,
652.0
],
[
905.0,
663.0
],
[
876.0,
671.0
]
],
"center_px": [
878.0,
661.25
],
"area_px": 521.0
},
{
"image_points_px": [
[
722.0,
708.0
],
[
751.0,
700.0
],
[
773.0,
714.0
],
[
745.0,
723.0
]
],
"center_px": [
747.75,
711.25
],
"area_px": 604.5
},
{
"image_points_px": [
[
579.0,
531.0
],
[
599.0,
538.0
],
[
601.0,
572.0
],
[
580.0,
565.0
]
],
"center_px": [
589.75,
551.5
],
"area_px": 686.5
},
{
"image_points_px": [
[
937.0,
632.0
],
[
964.0,
626.0
],
[
986.0,
636.0
],
[
961.0,
644.0
]
],
"center_px": [
962.0,
634.5
],
"area_px": 447.0
},
{
"image_points_px": [
[
496.0,
636.0
],
[
522.0,
629.0
],
[
542.0,
642.0
],
[
515.0,
650.0
]
],
"center_px": [
518.75,
639.25
],
"area_px": 504.0
},
{
"image_points_px": [
[
1270.0,
652.0
],
[
1277.0,
642.0
],
[
1299.0,
649.0
],
[
1284.0,
656.0
]
],
"center_px": [
1282.5,
649.75
],
"area_px": 213.5
},
{
"image_points_px": [
[
917.0,
550.0
],
[
944.0,
555.0
],
[
939.0,
559.0
],
[
921.0,
554.0
]
],
"center_px": [
930.25,
554.5
],
"area_px": 92.5
}
]
}

View File

@@ -0,0 +1,255 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:56Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": 3,
"used_marker_ids": [
48,
63,
102
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5,
6,
7
],
"rms": [
0.0036119340131870446,
0.0003815271411522017,
3.3258592549356145e-05,
2.831025657760074e-06,
1.2986130683687729e-07,
3.063832503173745e-09,
3.658863198350393e-11,
2.1982501689053283e-13
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05,
1.5625e-05,
7.8125e-06
]
},
"residual_rms_px": 0.0,
"residual_median_px": 0.0,
"residual_max_px": 0.0,
"sigma2_normalized": 2.7702576320066e-30
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.6141674518585205,
0.7891732454299927,
-0.0019770285580307245
],
[
0.19549711048603058,
-0.15457011759281158,
-0.968446671962738
],
[
-0.7645778059959412,
0.5944018959999084,
-0.24921302497386932
]
],
"translation_m": [
-0.03791151940822601,
0.003712024539709091,
1.5812585353851318
],
"rvec_rad": [
1.6811790047394326,
0.8203407715917637,
-0.6386260879240524
]
},
"camera_in_world": {
"position_m": [
1.231553554534912,
-0.9094105362892151,
0.39759016036987305
],
"position_mm": [
1231.5535888671875,
-909.4105224609375,
397.59014892578125
],
"orientation_deg": {
"roll": 112.7466812133789,
"pitch": 49.86944580078125,
"yaw": 17.65691566467285
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.646937819503414e-28,
2.9592968723450443e-29,
1.6136065674419252e-29,
-3.594929255417729e-29,
-2.678800176019581e-28,
-6.96210172067558e-30
],
[
2.959296872346867e-29,
2.8307758991821886e-28,
-6.20814891987002e-29,
1.6129576621667935e-28,
-1.1299890363371635e-28,
3.350425641761601e-29
],
[
1.6136065674393877e-29,
-6.208148919870297e-29,
8.633174902169814e-28,
-3.256088819520135e-28,
-1.574435200300893e-28,
-1.0152134596483924e-28
],
[
-3.5949292554160883e-29,
1.612957662166829e-28,
-3.2560888195201383e-28,
2.0297052727171427e-28,
2.632509579519468e-29,
8.690922598043646e-29
],
[
-2.6788001760196165e-28,
-1.1299890363370646e-28,
-1.5744352003010157e-28,
2.632509579520416e-29,
2.064662838189105e-28,
4.866588968612893e-29
],
[
-6.962101720676664e-30,
3.350425641762122e-29,
-1.0152134596483835e-28,
8.690922598043955e-29,
4.8665889686127155e-29,
1.76388323989697e-28
]
],
"parameter_std": {
"rvec_std_deg": [
1.3615360197948226e-12,
9.63996322466818e-13,
1.6834797708795043e-12
],
"tvec_std_m": [
1.4246772521231405e-14,
1.4368934679332023e-14,
1.3281126608450693e-14
]
},
"camera_center_std_m": [
1.9859056721338775e-14,
2.059828704697364e-14,
2.282516630207949e-14
],
"camera_center_std_mm": [
1.9859056721338776e-11,
2.0598287046973637e-11,
2.282516630207949e-11
],
"orientation_std_deg": {
"roll": 1.9201188755118663e-12,
"pitch": 1.390037071353562e-12,
"yaw": 1.5257702379518367e-12
}
}
},
"observations": {
"markers": [
{
"marker_id": 48,
"observed_center_px": [
1024.25,
1030.5
],
"projected_center_px": [
1024.25,
1030.5
],
"reprojection_error_px": 0.0,
"confidence": 0.49526620842323854
},
{
"marker_id": 63,
"observed_center_px": [
1316.0,
1051.25
],
"projected_center_px": [
1316.0,
1051.25
],
"reprojection_error_px": 0.0,
"confidence": 0.12173424671007582
},
{
"marker_id": 102,
"observed_center_px": [
1107.5,
938.0
],
"projected_center_px": [
1107.5,
938.0
],
"reprojection_error_px": 0.0,
"confidence": 0.6844006612851383
}
]
},
"qa": {
"sanity_notes": []
}
}

File diff suppressed because it is too large Load Diff

View File

@@ -0,0 +1,621 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:31:57Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene9\\k6_abcdef\\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": []
}
}

View File

@@ -0,0 +1,77 @@
{
"rows": [
{
"joint": "x",
"estimate": 60.69219968006836,
"gt": 60.0,
"error": 0.692199680068363,
"unit": "mm",
"observable": true,
"n_markers": 3
},
{
"joint": "y",
"estimate": -1.6667385367571528,
"gt": -2.0,
"error": 0.3332614632428488,
"unit": "deg",
"observable": true,
"n_markers": 3
},
{
"joint": "z",
"estimate": 93.94564518999718,
"gt": 95.0,
"error": 1.0543548100028204,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "a",
"estimate": -159.97819576402475,
"gt": 200.0,
"error": 0.02180423597525305,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "b",
"estimate": 61.346085190952415,
"gt": 60.0,
"error": 1.346085190952408,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "c",
"estimate": 9.194341445740383,
"gt": 9.0,
"error": 0.1943414457403776,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "e",
"estimate": 8.545282622746218,
"gt": 8.0,
"error": 0.5452826227462175,
"unit": "mm",
"observable": true,
"n_markers": 2
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 0.5899694291827415,
"max_abs_deg": 1.346085190952408,
"mean_abs_mm": 0.6187411514072902,
"max_abs_mm": 0.692199680068363,
"n_unobservable": 0,
"wrist_error_mm": 3.634101496935297,
"finger_error_mm": 3.113875142148903
}
}

View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-03T04:32:00Z",
"method": "hybrid",
"movements": {
"x": {
"value": 60.69219968006836,
"unit": "mm",
"observable": true,
"confidence": "medium",
"n_markers": 3
},
"y": {
"value": -1.6667385367571528,
"unit": "deg",
"observable": true,
"confidence": "medium",
"n_markers": 3
},
"z": {
"value": 93.94564518999718,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 2
},
"a": {
"value": -159.97819576402475,
"unit": "deg",
"observable": true,
"confidence": "medium",
"n_markers": 1
},
"b": {
"value": 61.346085190952415,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"c": {
"value": 9.194341445740383,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 2
},
"e": {
"value": 8.545282622746218,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 2
}
},
"residual_rms": 2.569358596701393,
"num_markers": 32
}