From a38886ce03f21456514e42b0c8bd0ec703e348fe Mon Sep 17 00:00:00 2001 From: chk <79915315+ChKendel@users.noreply.github.com> Date: Mon, 1 Jun 2026 18:34:31 +0200 Subject: [PATCH] Claude: Normelen durchziehen --- .../Scene9/aruco_positions_initial.json | 340 +++++++++++++++--- .../Scene9/aruco_positions_optimized.json | 340 +++++++++++++++--- .../Scene9/render_a_aruco_detection.json | 58 +-- .../Scene9/render_a_camera_pose.json | 2 +- .../Scene9/render_b_aruco_detection.json | 88 ++--- .../Scene9/render_b_camera_pose.json | 2 +- .../Scene9/render_c_aruco_detection.json | 18 +- .../Scene9/render_c_camera_pose.json | 2 +- .../Scene9/render_d_aruco_detection.json | 32 +- .../Scene9/render_d_camera_pose.json | 2 +- .../Scene9/render_e_aruco_detection.json | 62 ++-- .../Scene9/render_e_camera_pose.json | 2 +- .../Scene9/render_f_aruco_detection.json | 66 ++-- .../Scene9/render_f_camera_pose.json | 2 +- .../Scene9/render_g_aruco_detection.json | 72 ++-- .../Scene9/render_g_camera_pose.json | 2 +- data/evaluations/Scene9/robot_state.json | 2 +- pipeline/3_multiview_bundle_adjustment_v4.py | 12 + run/run_pipeline.bat | 2 +- 19 files changed, 799 insertions(+), 307 deletions(-) diff --git a/data/evaluations/Scene9/aruco_positions_initial.json b/data/evaluations/Scene9/aruco_positions_initial.json index 1f57d6e..b8726c2 100644 --- a/data/evaluations/Scene9/aruco_positions_initial.json +++ b/data/evaluations/Scene9/aruco_positions_initial.json @@ -1,11 +1,11 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-05-31T10:25:26Z", + "created_utc": "2026-06-01T16:29:16Z", "summary": { "num_cameras": 7, "num_markers": 48, - "num_constraints": 89 + "num_constraints": 94 }, "markers": [ { @@ -20,7 +20,12 @@ -256.9426700546937, 472.4411904678126 ], - "link": "FingerA" + "link": "FingerA", + "normal": [ + 0.0, + -0.9375276894468237, + 0.34791066600565723 + ] }, { "marker_id": 42, @@ -34,7 +39,12 @@ -35.360792452610305, 429.01134599473966 ], - "link": "FingerA" + "link": "FingerA", + "normal": [ + 0.8830215713766957, + -0.3090575499818435, + 0.3532086285506783 + ] }, { "marker_id": 43, @@ -48,7 +58,12 @@ -36.94716049920638, 430.3044703555823 ], - "link": "FingerB" + "link": "FingerB", + "normal": [ + 0.4224220616915755, + 0.0, + 0.9063992507699015 + ] }, { "marker_id": 46, @@ -62,7 +77,12 @@ 192.6725826858719, -31.867575928809295 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 47, @@ -76,7 +96,12 @@ -285.6522962684028, -27.632705427477813 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 51, @@ -90,7 +115,12 @@ -173.42825019997318, -28.825757723204873 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 53, @@ -104,7 +134,12 @@ 222.70145554624983, -33.006145600941615 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 54, @@ -118,7 +153,12 @@ -326.07523043362335, -23.629251855373393 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 55, @@ -132,7 +172,12 @@ -262.251687573985, -27.34128898330347 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 56, @@ -146,7 +191,12 @@ 199.95513798618524, -97.3442220978186 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 58, @@ -160,7 +210,12 @@ -217.8417196827393, -27.35915315693813 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 60, @@ -174,7 +229,12 @@ 285.17235705339186, -28.6569302352961 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 61, @@ -188,7 +248,12 @@ 369.2805373356988, -65.40606214453807 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 62, @@ -202,7 +267,12 @@ -175.39226211362575, -28.74726828040475 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 63, @@ -216,7 +286,12 @@ -245.23600152007728, -47.078037302345415 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 64, @@ -230,7 +305,12 @@ -187.6800397944428, -26.254232800957475 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 66, @@ -244,7 +324,12 @@ -358.55828400077985, -25.23674900356317 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 68, @@ -258,7 +343,12 @@ 172.6383690293072, -22.075066370605047 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 69, @@ -272,7 +362,12 @@ -270.59472142420617, -4.250964283180778 ], - 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"link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 92, @@ -384,7 +514,12 @@ -191.76627617754713, -27.27582949341032 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 95, @@ -398,7 +533,12 @@ -272.80157769187826, -26.055699573846002 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 96, @@ -412,7 +552,12 @@ -186.95840139892232, -28.661154723504005 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 97, @@ -426,7 +571,12 @@ -355.57764113886896, -26.320750591851404 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 102, @@ -440,7 +590,12 @@ -227.57491771842786, -32.76331158593055 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 103, @@ -454,7 +609,12 @@ -187.6625170768477, -27.84113315996863 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 105, @@ -468,7 +628,12 @@ -268.3498725420233, -28.32190897844432 ], - 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"link": "Ellbow" + "link": "Ellbow", + "normal": [ + 1.0, + 0.0, + 0.0 + ] }, { "marker_id": 245, @@ -678,7 +913,12 @@ -173.14558926956528, 71.5662506661022 ], - "link": "Ellbow" + "link": "Ellbow", + "normal": [ + 0.0, + 0.0, + -1.0 + ] } ] } \ No newline at end of file diff --git a/data/evaluations/Scene9/aruco_positions_optimized.json b/data/evaluations/Scene9/aruco_positions_optimized.json index dff3495..2fa9116 100644 --- a/data/evaluations/Scene9/aruco_positions_optimized.json +++ b/data/evaluations/Scene9/aruco_positions_optimized.json @@ -1,10 +1,10 @@ { "schema_version": "1.2", - "created_utc": "2026-05-31T10:26:00Z", + "created_utc": "2026-06-01T16:30:02Z", "summary": { "num_cameras": 7, "num_markers": 48, - "num_constraints": 89 + "num_constraints": 94 }, "markers": [ { @@ -19,7 +19,12 @@ -241.7091517279724, 500.48835370608725 ], - "link": "FingerA" + "link": "FingerA", + "normal": [ + 0.0, + -0.9375276894468237, + 0.34791066600565723 + ] }, { "marker_id": 42, @@ -33,7 +38,12 @@ -197.27321113148423, 514.23694375173 ], - 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"link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 97, @@ -425,7 +570,12 @@ -353.9299974438902, -28.68860474883577 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 102, @@ -439,7 +589,12 @@ -225.23581436884305, -31.471736394007106 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 103, @@ -453,7 +608,12 @@ -187.2685011631118, -28.75687355872026 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 105, @@ -467,7 +627,12 @@ -268.7493257903883, -28.050114591019405 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 113, @@ -481,7 +646,12 @@ -198.7215887792898, 295.77221266192026 ], - "link": "Arm2" + "link": "Arm2", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 124, @@ -495,7 +665,12 @@ -239.00629042412942, 317.28752483467946 ], - "link": "Arm2" + "link": "Arm2", + "normal": [ + -1.0, + 0.0, + 0.0 + ] }, { "marker_id": 198, @@ -509,7 +684,12 @@ -73.89348412117367, 135.87886912748516 ], - "link": "Arm1" + "link": "Arm1", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 205, @@ -523,7 +703,12 @@ -94.52600727786088, 11.969556185094469 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 206, @@ -537,7 +722,12 @@ -13.716107260891361, 7.318694801492924 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 207, @@ -551,7 +741,12 @@ -14.54655342263914, 13.005282032526235 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 208, @@ -565,7 +760,12 @@ -94.13350037790832, 1.389765445743052 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 210, @@ -579,7 +779,12 @@ -17.38466109655536, -0.795074068379483 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 211, @@ -593,7 +798,12 @@ -11.240353169632511, 4.935236021898448 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 214, @@ -607,7 +817,12 @@ -14.233440506156315, 4.826210435999327 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 217, @@ -621,7 +836,12 @@ -93.59823072313132, 4.107661422486768 ], - "link": "Board" + "link": "Board", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 229, @@ -635,7 +855,12 @@ -151.8263116866857, 108.63026418479936 ], - "link": "Arm1" + "link": "Arm1", + "normal": [ + 0.0, + 0.0, + 1.0 + ] }, { "marker_id": 243, @@ -649,7 +874,12 @@ -171.55976689014705, 63.28360140903642 ], - "link": "Arm1" + "link": "Arm1", + "normal": [ + 0.0, + -1.0, + 0.0 + ] }, { "marker_id": 244, @@ -663,7 +893,12 @@ -20.063607744747888, 6.208931593469432 ], - "link": "Ellbow" + "link": "Ellbow", + "normal": [ + 1.0, + 0.0, + 0.0 + ] }, { "marker_id": 245, @@ -677,7 +912,12 @@ -67.26290463887722, 6.046891493775955 ], - "link": "Ellbow" + "link": "Ellbow", + "normal": [ + 0.0, + 0.0, + -1.0 + ] } ] } \ No newline at end of file diff --git a/data/evaluations/Scene9/render_a_aruco_detection.json b/data/evaluations/Scene9/render_a_aruco_detection.json index 48add02..658d9e3 100644 --- a/data/evaluations/Scene9/render_a_aruco_detection.json +++ b/data/evaluations/Scene9/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:15Z", + "created_utc": "2026-06-01T16:29:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "67a22d5d-4026-4e16-9f17-1060b5ea5c29", + "observation_id": "828323f9-310c-46d4-9344-27a3b93ff5f7", "type": "aruco", "marker_id": 42, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8374556851639195 }, { - "observation_id": "346f6e91-7aa3-4100-b93f-ca5215b9caad", + "observation_id": "e8dca706-74d4-44d8-a48b-f37b80b5a987", "type": "aruco", "marker_id": 43, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8294132973023032 }, { - "observation_id": "b232e7ff-255e-4f4e-b371-3aeea8d050d8", + "observation_id": "f0a5037d-f91a-4b5a-8a14-0aa7b751da61", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8981552472038941 }, { - "observation_id": "178d6570-814d-4952-93c2-c2f68475a1de", + "observation_id": "a659c0bc-ef7e-45ab-a3da-f09f78858d85", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6805707817398313 }, { - "observation_id": "b942b747-333a-4ea7-ac87-efd7e8899eac", + "observation_id": "c0152252-d6f7-46e9-9c06-8a0174bf69f9", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6358432130578832 }, { - "observation_id": "90b7a93c-81fd-4464-bd1e-e341a2bdcbaa", + "observation_id": "4681004b-f93e-410a-8b95-35e8e4b1bdf9", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.12146268776527554 }, { - "observation_id": "d6a5cffb-fd8b-4b7f-8b32-f80dcc9527d0", + "observation_id": "f4fa37cf-44bc-4ae8-8422-4a30fd3d7758", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.3676840060581848 }, { - "observation_id": "07b8af76-65e8-4941-82e3-1ddeab647fd5", + "observation_id": "c48557f8-6193-42f2-8bc1-3677101f64d4", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.46829700346999537 }, { - "observation_id": "fd3cc01c-3141-4534-9986-a55fda47d0ff", + "observation_id": "1aba28a0-3c4e-42d7-bcc5-9bef8639e5f0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4531062923543488 }, { - "observation_id": "f7ae1dfd-024a-4284-985a-ca346e4eb5a5", + "observation_id": "531eca86-3fbd-4caf-9ac4-51794ec44b19", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5158823529411765 }, { - "observation_id": "29ebabdd-bdbd-4f1b-aa81-80b8fa62b49b", + "observation_id": "5a41b11c-6fa8-4660-a476-8fa5c89565fe", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5036164123338793 }, { - "observation_id": "b1438e02-112a-48dd-8889-fb322f2799e3", + "observation_id": "9bbfc8ae-1537-40ef-a506-16bf7f61716b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4560525484643318 }, { - "observation_id": "3e594a8a-ad7e-43a2-aa71-04b0b0cb5217", + "observation_id": "c2756a47-fcac-4831-b093-001921f5164a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5734281513866332 }, { - "observation_id": "e8da5709-31ad-4ab5-b777-a692e87259d8", + "observation_id": "a6e55917-816e-40ae-ac6a-b9135c601baf", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.525542829627259 }, { - "observation_id": "744cc031-f8e1-436a-b30b-6827ca778984", + "observation_id": "d8e82891-13f7-4b17-82d5-e6b1e815b740", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5038606541951498 }, { - "observation_id": "4f4e19b9-00fb-4d87-b8a8-ddfc3139c8ca", + "observation_id": "f130b885-4944-4fbe-83d8-b34ded9fb490", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.43622925667631085 }, { - "observation_id": "b25eed22-8b38-482d-b5d5-6d77dc3651ad", + "observation_id": "410902c1-0e7f-4bc4-9d84-11cd8f0a3da9", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.29844141482805986 }, { - "observation_id": "e481fef6-3682-4ed2-b7d4-dd47584c4442", + "observation_id": "43eb0f4e-1f52-4a50-b6c1-7795198aef5e", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2521714913889437 }, { - "observation_id": "6bbb92a3-7cfd-4625-881a-71e9ac9fc80c", + "observation_id": "975b649d-b9fa-482b-afee-9e346fe81467", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.31777455864589965 }, { - "observation_id": "4e4968c9-60d3-487b-a9c2-e7b457ae1345", + "observation_id": "80bf45f1-1eff-4f87-aaee-3e4467ef8b98", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.3029173397022545 }, { - "observation_id": "b872d2c6-30d4-4d0f-ac46-4409ceead01d", + "observation_id": "f55388ff-734e-41bc-bcc7-d2293a7f1e8f", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1527342148240039 }, { - "observation_id": "84259927-1320-40f6-9b10-13643d3722c5", + "observation_id": "65f8ec9b-8645-4d42-aed0-874e0ca86d32", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.19743498130596515 }, { - "observation_id": "6cb603d3-e307-4bd1-b103-c94cc981299c", + "observation_id": "c36df8de-41a8-4013-8af8-79730d571343", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.2849187633475991 }, { - "observation_id": "c7c04197-beb8-4950-a9ca-4de2c9192d1c", + "observation_id": "ef83c693-58f2-4b6a-ae77-4f0973f2ab4f", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.24627951083020566 }, { - "observation_id": "5f92c89f-d4b4-42bc-9ae6-e2d842b938ea", + "observation_id": "3234410e-0132-4c28-8255-b4296e75b8a7", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.1970529186973567 }, { - "observation_id": "0a81577c-f821-446e-acef-d0fcc928084e", + "observation_id": "3c35350f-ca0c-42ee-aeec-68b460af032f", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.1988568274481309 }, { - "observation_id": "657f9cfc-99fc-4b4b-8549-f5887bceb19d", + "observation_id": "de89e570-6291-4e53-97d2-c611dd878d05", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.17646704338372862 }, { - "observation_id": "4763bd83-3dfb-4cce-bddd-887ffd3d113f", + "observation_id": "dcbb80cf-60c7-4adb-a167-b19c93d5beb6", "type": "aruco", "marker_id": 93, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_a_camera_pose.json b/data/evaluations/Scene9/render_a_camera_pose.json index 6731671..b5ba08b 100644 --- a/data/evaluations/Scene9/render_a_camera_pose.json +++ b/data/evaluations/Scene9/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:18Z", + "created_utc": "2026-06-01T16:29:13Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_b_aruco_detection.json b/data/evaluations/Scene9/render_b_aruco_detection.json index b28bbb9..757199e 100644 --- a/data/evaluations/Scene9/render_b_aruco_detection.json +++ b/data/evaluations/Scene9/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:15Z", + "created_utc": "2026-06-01T16:29:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "510916c6-1485-4f24-aa33-b1193a1fa6c6", + "observation_id": "9659e815-c908-4da1-908f-69eb1b7c9eda", "type": "aruco", "marker_id": 43, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7925285650886857 }, { - "observation_id": "91139bf6-1704-465c-a40b-f9ce94bbf46c", + "observation_id": "bb51ce4c-d6e9-4f5d-b332-78eceeda6e04", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.1539593300495616 }, { - "observation_id": "7576d0a1-6cd9-4370-80b2-04ff857d9c0e", + "observation_id": "6e0118bd-590a-422e-9463-c897ae23c0bb", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4787342723608016 }, { - "observation_id": "84fba295-d3ac-4e69-9a58-0cde131f74b4", + "observation_id": "7e33f2a8-ecb8-45cd-a78e-8fe5436be64d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.39637168760361213 }, { - "observation_id": "14027746-489e-4cc0-9d69-89dbc086f119", + "observation_id": "91e4ed36-b110-4ec0-9790-c7f313b1f698", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.4633649853376546 }, { - "observation_id": "6c6be389-03ea-4d1e-b8cd-4a9714b00715", + "observation_id": "bf9d8b2c-0bee-4833-8dec-2adb5c88faef", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3638956157928849 }, { - "observation_id": "2dea0619-d038-4900-b2ee-b5a841379415", + "observation_id": "d250d2bb-be6a-4f93-9b43-548fd087ca0e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.33787297122479 }, { - "observation_id": "cbc3ea5b-622b-4308-940c-4a01685d21e2", + "observation_id": "e863518f-eb06-4a3b-b258-3d09a8d54203", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.46896024883690896 }, { - "observation_id": "3a377ad5-4bc3-4647-af82-26e3a8c61667", + "observation_id": "ac190ef4-a8ad-46d6-afec-28924b9ae5b2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.44372569385651617 }, { - "observation_id": "aad6d120-6b5a-4b9c-90a7-3ccd8c3572ed", + "observation_id": "9f3e2a15-836e-4616-b6b4-5e6cae4411be", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.45199802144368495 }, { - "observation_id": "824124ba-30c5-4dba-9993-7caab7810db2", + "observation_id": "1cdfcfd8-9dae-4496-ab03-302271e6e919", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.44348322079976393 }, { - "observation_id": "bd6272ab-ff0d-4f80-a159-a4bb430a1467", + "observation_id": "89897f91-b8bf-4b76-9513-e624cf6effc4", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.44348322079976393 }, { - "observation_id": "f44c4c0e-cb0e-46e2-968e-851bc82a7b26", + "observation_id": "a0a83014-19e8-4571-a03b-b12f5ce9f59d", "type": "aruco", "marker_id": 42, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.24113570084112637 }, { - "observation_id": "84287a52-6997-4743-8d4f-cbe5005cecd0", + "observation_id": "b6b5e1a6-9c90-4d2a-aaa6-3ad0faee7c17", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41815762699787656 }, { - "observation_id": "f5ceb28c-98b2-4cc8-8dab-b712e59e1005", + "observation_id": "07d65889-ec09-4529-b098-4b5eb82e0100", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.3958181457519531 }, { - "observation_id": "59ac044d-7e01-4021-872f-9ed5f0016f15", + "observation_id": "bccb3dba-4381-4620-8b34-d1c75d492b89", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.3918555899450243 }, { - "observation_id": "b298a6a6-e0a4-45eb-be17-50da5919327c", + "observation_id": "da29a6ad-b0d2-43d6-b798-771cb96460ce", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.4015868133874269 }, { - "observation_id": "ff352796-9c20-4e9b-bacd-8f3c479e156c", + "observation_id": "eff35d03-2dcd-47ea-a1f6-2080b43bf3e6", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.3776 }, { - "observation_id": "9908343d-37d8-41cc-b5b5-d9fe37d725b9", + "observation_id": "d7647185-397f-4695-9838-e8b225164305", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3320910299473707 }, { - "observation_id": "7b584155-5f04-48e1-9844-5637fc702f19", + "observation_id": "a8724dea-465e-4f9c-b6d8-218caf590ac7", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.3465862068965517 }, { - "observation_id": "68141292-bd29-4277-a74c-acf8f5406c40", + "observation_id": "459f23c1-75e5-4707-a841-a2cf6b36dbf7", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3579602826436361 }, { - "observation_id": "2111f2b4-2d23-4688-b170-96c2f10605e5", + "observation_id": "2ae83c33-763c-4eae-bac8-ebf7b16fc90f", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.343462485354258 }, { - "observation_id": "b85e551b-f979-48eb-86f7-28ded65f6b60", + "observation_id": "f8661ad5-5243-4698-8b2d-5dbbf16cf0d1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.212625 }, { - "observation_id": "7816cfee-8ad0-4255-b839-3acd7a4b2cd5", + "observation_id": "41608084-4852-417c-8712-0e2025c9d1e4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.15432248002290727 }, { - "observation_id": "fca5ddbc-02d1-45bb-968c-28a9bf2274f0", + "observation_id": "ef9d2529-d326-4efc-b271-a9da60d98479", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.06057156860351561 }, { - "observation_id": "e4c224d2-104d-48dc-a5c5-45bcfa897e33", + "observation_id": "2390282b-6b9e-459a-b42a-e3fc85529d3a", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2459421895345052 }, { - "observation_id": "c04c91e2-33b8-4690-8c1e-faa54996af3b", + "observation_id": "362bf6d9-548d-4e08-92d7-040bf6216830", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.24407473894265982 }, { - "observation_id": "e271ab38-30e9-4f70-991a-4a78614052d0", + "observation_id": "83e0d56a-8a0a-441c-9a7c-0f3a2adab5d6", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.23896265492072474 }, { - "observation_id": "c677eeb1-3ddd-4090-b61d-3312ff93698a", + "observation_id": "dfa42ae4-5d5f-436c-8523-f64088821bc6", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.24909137483284013 }, { - "observation_id": "e2e965fe-0688-4956-b5c8-b472a1a866c0", + "observation_id": "3b56e5cc-d5c0-40f4-8da7-3a2f2f963359", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.23734254719660833 }, { - "observation_id": "0b1fa639-5719-4a92-bb61-de3a5f537d8a", + "observation_id": "188d5832-fc7f-41c6-8c05-86f0b0b76849", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.2211554500544793 }, { - "observation_id": "e4d57e40-7524-4912-9997-ed57b457fc94", + "observation_id": "8b42b396-c6d1-4b79-b1fe-5dc266132b48", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.21841319450965294 }, { - "observation_id": "e9e486eb-586e-4f60-82cd-8e85af24a057", + "observation_id": "6c60a978-18b7-41c8-b4c5-4edc4dd34998", "type": "aruco", "marker_id": 104, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.22417849731445313 }, { - "observation_id": "e7f14793-e43b-4833-9c66-4141dec2bc44", + "observation_id": "36f8ea87-87d7-4ccf-b790-b1d193ba42f2", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.22367025973033955 }, { - "observation_id": "4d779391-632e-4fa2-9853-5cf1920fd3c2", + "observation_id": "485c6fb1-a7d3-436e-b120-b6e0a71c5813", "type": "aruco", "marker_id": 60, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.19874429613402733 }, { - "observation_id": "7a4ef42c-1ecc-457f-8ba8-be79ad9ab714", + "observation_id": "564a32f5-2a1e-4fe4-baf9-4ebc8d092a3c", "type": "aruco", "marker_id": 67, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.19627771759033205 }, { - "observation_id": "ed010846-c477-4e11-821d-c398fe02d4c5", + "observation_id": "004aa822-ce11-4fde-a299-cb65a9f30194", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.18966921411877496 }, { - "observation_id": "8b24e54f-2f2f-4a41-b036-d7e55b982d9c", + "observation_id": "ba4a0f09-9e46-4ae8-8a61-6f2762ee6458", "type": "aruco", "marker_id": 88, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.17697203515072252 }, { - "observation_id": "31dd65cb-5813-47b5-9957-2dae2e0c89df", + "observation_id": "fc9b01b8-57d0-49df-8e23-fc673185a297", "type": "aruco", "marker_id": 70, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.193995418548584 }, { - "observation_id": "846b18ed-d381-4034-b6bd-d6b6fcb77418", + "observation_id": "c2898182-1f5e-47db-b804-0bdb0b4eadfd", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.17958947754575058 }, { - "observation_id": "2462b7ec-9d3b-49c8-8e34-4c1bf041a4e9", + "observation_id": "36822611-9dc9-4db5-b7f7-9fbf3b862e42", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.17676838843571283 }, { - "observation_id": "db18b721-d773-47da-8622-1405b9f373b0", + "observation_id": "fa9c29c4-4e34-4854-80e5-dd536c34128b", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.1668050360320266 }, { - "observation_id": "205fe12e-ab3a-4d0c-8e00-ca28cb40ccf6", + "observation_id": "fa4b2148-c749-4d63-97dd-4a67f62997f2", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_b_camera_pose.json b/data/evaluations/Scene9/render_b_camera_pose.json index c0a3da8..648451d 100644 --- a/data/evaluations/Scene9/render_b_camera_pose.json +++ b/data/evaluations/Scene9/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:18Z", + "created_utc": "2026-06-01T16:29:13Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_c_aruco_detection.json b/data/evaluations/Scene9/render_c_aruco_detection.json index da51df3..4592fa7 100644 --- a/data/evaluations/Scene9/render_c_aruco_detection.json +++ b/data/evaluations/Scene9/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:16Z", + "created_utc": "2026-06-01T16:29:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4f5542a8-14df-46c1-82db-1a2d97500448", + "observation_id": "4c338f7b-2ef7-4fe7-bb9a-99867b2e7728", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9487615650349993 }, { - "observation_id": "13234fdc-5a13-4483-8a76-a2bc6e98df26", + "observation_id": "06aaf42b-e970-4f4c-b13c-11d172a293b6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9266602848500798 }, { - "observation_id": "7ea6faca-9c46-4c3c-8552-b4595421a9eb", + "observation_id": "33d0d869-585f-4f78-ae20-84471b2e8596", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8890505808415132 }, { - "observation_id": "5278689c-fb4a-4af8-8fe5-93419ea45e5f", + "observation_id": "511089c6-e12c-4197-b986-24d586d142f3", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3082915922280886 }, { - "observation_id": "4f80c066-e5e2-4ccf-9e4e-b7761c3af848", + "observation_id": "73a318fc-d5e7-496a-8b1a-21d3cd4e1302", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2964796698261984 }, { - "observation_id": "b1513300-6853-43ac-b878-e1ae65d2d3fe", + "observation_id": "6e99e711-d94f-481b-ac0d-80ebba9f995d", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.21181999247805575 }, { - "observation_id": "f3e582e8-fd00-41cf-a08c-77c541df935b", + "observation_id": "21e8a19f-ba71-4da0-a662-c589883d166f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.21966133686197709 }, { - "observation_id": "e80baad4-7612-45c8-95cd-62c61fb3c41d", + "observation_id": "9f922615-d6a0-4531-ac41-14539e8719de", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_c_camera_pose.json b/data/evaluations/Scene9/render_c_camera_pose.json index 09371e0..5d75405 100644 --- a/data/evaluations/Scene9/render_c_camera_pose.json +++ b/data/evaluations/Scene9/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:18Z", + "created_utc": "2026-06-01T16:29:13Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_d_aruco_detection.json b/data/evaluations/Scene9/render_d_aruco_detection.json index 3300881..7952350 100644 --- a/data/evaluations/Scene9/render_d_aruco_detection.json +++ b/data/evaluations/Scene9/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:16Z", + "created_utc": "2026-06-01T16:29:10Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "62159d0c-7b40-4e16-940f-ba2767d8b5a6", + "observation_id": "c6edc030-1270-477f-9b6c-b01857dbaca3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9819147066961816 }, { - "observation_id": "1fc62b88-87cf-4431-a2f7-3e53816f7d82", + "observation_id": "48783691-cd10-496e-9825-1ff3ecaa4032", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.896516741806838 }, { - "observation_id": "172aef68-2afd-4e3a-9889-a65832c5e04f", + "observation_id": "6f06ad1f-943c-418e-adab-d8e138d6082c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8782459535277616 }, { - "observation_id": "2d83b0a9-eeb7-4eea-92c5-26b6fab011f1", + "observation_id": "44eb12ae-2972-40e4-ac1a-986f706438dd", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.49420707353484883 }, { - "observation_id": "a6adc44e-d309-4347-8774-3657ec0daab2", + "observation_id": "855ddc73-e2f2-454d-8d84-120fe75bde10", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.06739671544456982 }, { - "observation_id": "01e98ce0-0dcf-4d46-963f-24ec97298b77", + "observation_id": "303e80c5-4d8a-4d5c-b25b-8b42a88af948", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17416420855033052 }, { - "observation_id": "24c04561-73ac-4449-8531-9d8339d1f07d", + "observation_id": "fcab8cf0-28c5-4fff-803c-4c76d5873281", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4189637021373363 }, { - "observation_id": "5d001e51-cdd2-495c-9a83-b69e0dd68eba", + "observation_id": "a0fde815-04de-4dd3-a459-6f496f89a8d6", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.24540823915500745 }, { - "observation_id": "5bc6c7d7-afd3-4476-90fc-2c5d4f7e419e", + "observation_id": "dcc2a1af-3b51-4945-ac7f-8ce2d0c00d3f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.32624039952470835 }, { - "observation_id": "51592f44-1c5c-477a-9d79-e1ad40f54542", + "observation_id": "2916d93b-da82-4dc7-8b2f-9af4a054bae9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.45882243623190877 }, { - "observation_id": "75a9e37b-d35c-46c0-8cab-8bff0d5cd43f", + "observation_id": "db111a8f-0e23-4dba-be10-8deb0501b413", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.051262886894149665 }, { - "observation_id": "37a0443d-aa46-443e-b12c-cf1d29945553", + "observation_id": "1f155a26-9e44-46db-8182-16ebf14a8715", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3071912693949274 }, { - "observation_id": "433745c3-3bd1-4a0e-96d7-628a9e937461", + "observation_id": "2b3b9c08-c155-497b-891e-fe18c99885e7", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.013395930107400523 }, { - "observation_id": "a8bfa26a-c9ef-4963-929a-c0cd66fdd06c", + "observation_id": "dd51ae5a-5bec-48c7-a4a9-5018ffbc0669", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.07285288505606423 }, { - "observation_id": "6e2ea730-94e9-4abc-abb3-f45cb792c57d", + "observation_id": "8d133eb6-15d4-4719-9ae7-985a9cd81fb4", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_d_camera_pose.json b/data/evaluations/Scene9/render_d_camera_pose.json index d83e849..1338c6d 100644 --- a/data/evaluations/Scene9/render_d_camera_pose.json +++ b/data/evaluations/Scene9/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:19Z", + "created_utc": "2026-06-01T16:29:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_e_aruco_detection.json b/data/evaluations/Scene9/render_e_aruco_detection.json index a4cf723..ba35ad6 100644 --- a/data/evaluations/Scene9/render_e_aruco_detection.json +++ b/data/evaluations/Scene9/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:16Z", + "created_utc": "2026-06-01T16:29:11Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "087a4182-fd74-451b-ae82-efe6961bb3d0", + "observation_id": "b5792e42-ad47-4475-bbd0-fafe9169265c", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.15369374989294518 }, { - "observation_id": "6280ab09-ea6b-43d4-a293-02574271eabe", + "observation_id": "ab6de0a8-8ab2-4909-a9e8-5406c7bc778c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.6379583967674639 }, { - "observation_id": "babe888a-58a7-4b93-b1c8-939be23f7d0d", + "observation_id": "3c6ac6ea-b094-48d9-bda6-6cde563e9323", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3233651345714012 }, { - "observation_id": "6c8a6edf-9a0e-4b8e-86ae-1af551e3a817", + "observation_id": "3576a7d2-3019-43b9-a2a2-a541ab5c3cb0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.420622587927407 }, { - "observation_id": "5612df49-9322-4027-89dc-2c2c2e52b874", + "observation_id": "2b3a27c0-e1d0-4d3a-ac91-04667afec31b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3128949822399185 }, { - "observation_id": "0f42e339-6b98-455e-a330-4a03c4b0f611", + "observation_id": "77feecb7-ab2d-4087-9eb7-521f10b28375", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.11623157468788738 }, { - "observation_id": "0d648a76-257f-4f3f-988f-a309c3ec7876", + "observation_id": "0ff9abbb-9592-4adf-b281-9464b303afdb", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.48895218467117135 }, { - "observation_id": "6117d8df-1de6-47d6-a5e7-f7d2e8342dc0", + "observation_id": "7d41074b-5276-41b6-8555-9d33fe59097e", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.22596816505744277 }, { - "observation_id": "e1e687e2-1724-457b-901c-d2e2fa569bd5", + "observation_id": "6cd1c203-9456-4300-95a8-7ed0108ed24d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.32694949112255345 }, { - "observation_id": "8fb4f342-49f9-4aca-bdfe-b5d5021b00a3", + "observation_id": "127b0fcb-06df-4e06-8d3e-ced84cec6c37", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.24626971873720385 }, { - "observation_id": "08ee9bb4-11bd-4097-b2db-c97798dbdc93", + "observation_id": "65fdd6d5-191e-4818-8b3a-df171e0e239b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2205630261207473 }, { - "observation_id": "ee4404fa-8fe5-4204-b84d-bd335ca480ce", + "observation_id": "b40004e2-82e2-45cb-b285-f93d3026c579", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.22017552547080893 }, { - "observation_id": "bde7c5f2-db1b-4788-a1f8-6bb7a955e04d", + "observation_id": "6fd3ddd9-7349-4260-8cfc-94b31219d8bd", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.24902550615732547 }, { - "observation_id": "6e7fde78-5661-492a-bb85-d21098b3624d", + "observation_id": "cdc74eb7-deb9-4298-9b30-6a7f6a9e3096", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.1717072854797086 }, { - "observation_id": "6fc14e4d-6ac6-4027-b6e5-6e96e4ec868d", + "observation_id": "fdb98dea-5053-4907-85ac-a9f792e0c720", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2093822185726055 }, { - "observation_id": "23a1ff79-0495-4970-a7bc-841534293457", + "observation_id": "eb030f5d-af77-4d75-9ccd-0f51f5983c5c", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.16725963004706537 }, { - "observation_id": "2adc985e-f3c4-4d36-a489-eaa53d748de7", + "observation_id": "dc232799-ed86-4a54-8c29-deef32438db3", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.22298824455832925 }, { - "observation_id": "c3240208-5b4d-40de-b5ab-39afc4c88548", + "observation_id": "2f08d771-74fd-41d5-9be0-4925cf9f32fa", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.13595850692924102 }, { - "observation_id": "e256e786-c86f-4fd8-8ec4-0f0f3a34e42a", + "observation_id": "7a28aae1-78c8-4263-84a4-0594db7bbf21", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.2298583378390498 }, { - "observation_id": "24595212-9a3b-4e2b-a7d6-5d39a5cb223b", + "observation_id": "445e0795-7d59-4374-ba67-6f24ea67e0a8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.17248468175234963 }, { - "observation_id": "ac844a2b-7454-49ad-b0b6-ffc98daa75de", + "observation_id": "78cddb0e-1fc2-43c4-83ed-43b7b1fabb94", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.12157403976480062 }, { - "observation_id": "484a5752-8e57-48f6-8776-24baaa0faece", + "observation_id": "1333b472-3cbc-405e-89bb-f1771905329c", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.14922985097126407 }, { - "observation_id": "69ef89b5-3cac-49c4-90e5-a2ee74240362", + "observation_id": "2f77ef69-b9aa-40dc-bbe9-8b11769adde1", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.1374474660290558 }, { - "observation_id": "46447d39-c157-4276-bed1-aaf72d779e03", + "observation_id": "176dc1b8-32ef-48da-8035-cec402a1e676", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.11373255626245794 }, { - "observation_id": "fa2028b6-f95a-4d46-b903-dd9b6e203384", + "observation_id": "856d7060-73b1-4639-9a3f-c9da8dfecf6b", "type": "aruco", "marker_id": 60, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.1208904643109979 }, { - "observation_id": "56844b60-5be2-4144-9eec-3d423d8323d6", + "observation_id": "8793175f-6a41-4f20-bea5-e0b3f44ced08", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.15549629518828512 }, { - "observation_id": "3c548f42-f562-4dd2-8cb4-435b5523a476", + "observation_id": "155cf594-aaa7-4f36-b631-01eda2be4274", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.13332463075982282 }, { - "observation_id": "585ff40e-feb5-421c-b5a4-fdfe4f0ffe95", + "observation_id": "32ef40b0-c8d5-4120-bdda-666ef94724f0", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.13255097071329755 }, { - "observation_id": "60a6c00b-2ae8-4f32-b8de-9651580a458e", + "observation_id": "973a6c76-79f3-4d98-8875-0344631306ce", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1265670983135443 }, { - "observation_id": "452571be-6bd4-4954-98a6-4259782c8434", + "observation_id": "77d902fa-dc60-43c9-bc72-378b20af87f6", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_e_camera_pose.json b/data/evaluations/Scene9/render_e_camera_pose.json index bedc912..6ad768d 100644 --- a/data/evaluations/Scene9/render_e_camera_pose.json +++ b/data/evaluations/Scene9/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:19Z", + "created_utc": "2026-06-01T16:29:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_f_aruco_detection.json b/data/evaluations/Scene9/render_f_aruco_detection.json index 0ebd7ca..5eaf32b 100644 --- a/data/evaluations/Scene9/render_f_aruco_detection.json +++ b/data/evaluations/Scene9/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:17Z", + "created_utc": "2026-06-01T16:29:11Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4340a67e-546b-4c41-b6af-b97dd46642dd", + "observation_id": "d1aa4d50-913a-44cc-97e2-afa65d5349e0", "type": "aruco", "marker_id": 43, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.850354724870378 }, { - "observation_id": "acd51a2d-4136-47fc-852a-70689177fa34", + "observation_id": "42782343-eb0f-4cb1-88fc-f374a8b65712", "type": "aruco", "marker_id": 41, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3023072583773299 }, { - "observation_id": "77d60b7b-c067-4e3c-abbb-8380c5da0f3a", + "observation_id": "5be60c86-51d7-4677-8b9d-16416a3e9ae2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.2988751797371847 }, { - "observation_id": "819ab1d7-7d29-4b81-9062-b07c701f1350", + "observation_id": "d85a3a92-f740-4ff1-8475-45365c135ea1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5697620483284124 }, { - "observation_id": "bb8f3982-3298-4607-98e0-6c3a4c56bf4f", + "observation_id": "2e2e3384-dba9-4fc9-800d-77159ab09a91", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5829305549976826 }, { - "observation_id": "1ef7e9ca-13bb-4e2b-a3a4-0cd2bccefe83", + "observation_id": "1d3fdc60-69ca-451c-b263-5da58e2d8f81", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5768583617164568 }, { - "observation_id": "bc995fa0-7605-4c8d-90bb-4af814e6061a", + "observation_id": "b314f7bf-fa88-43da-9cf9-4eef61061f26", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5593704450665263 }, { - "observation_id": "e461b461-3ef5-450c-a12a-ac55cb3d794c", + "observation_id": "a159786c-db42-4584-bc6c-798fa0b21db5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5766374039623903 }, { - "observation_id": "941f9bb4-6fb1-4626-9087-cbefd12708ee", + "observation_id": "0a71b8d9-dfa5-4e65-8eec-b363cabe4b7b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.21364841201201337 }, { - "observation_id": "631f849f-8529-4736-a48a-56c96c63df45", + "observation_id": "1ed22bce-4d6f-435c-9b8b-c7c28a9d3233", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5464657910873614 }, { - "observation_id": "91689ac4-9a7d-4351-b639-cf6167c31caf", + "observation_id": "3abe6368-3bd1-440a-baf5-28bf23fcdacb", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5705029634947052 }, { - "observation_id": "6dded9ad-709d-4344-9afe-84a004afe01f", + "observation_id": "4c1d8a24-b090-406f-ba5c-db7750f2eab3", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5440516905787338 }, { - "observation_id": "d82fedd2-e4a3-474b-9a26-ff1b582e197e", + "observation_id": "185fbe4f-c6af-46a5-9c1e-b314ab92bda5", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "67b636ba-958b-4c40-9e89-de2eb56df02e", + "observation_id": "625b3925-f45b-4755-91a3-88b1482c46ff", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5763709732716893 }, { - "observation_id": "6b6c2dc7-ef6d-4d08-aea3-d746e5f6a63b", + "observation_id": "10bc13cc-a5b3-4412-a3f2-d6a1f6d4e3b7", "type": "aruco", "marker_id": 42, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2932628535560303 }, { - "observation_id": "a7edbdb6-f08e-466b-9fee-3347c9b08986", + "observation_id": "d5a10576-d01a-4406-89cd-1af5133d7e96", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.06519221426443914 }, { - "observation_id": "a7897d0b-c733-4e3b-a8db-43cf6944f367", + "observation_id": "73fcd9a5-07cb-44a9-aa98-a90138ecfa6d", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5460974493377216 }, { - "observation_id": "d798d53b-ecae-48e8-ade1-c81a09646783", + "observation_id": "4e16e51e-b424-4084-a715-c4394d289f88", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5349107016469481 }, { - "observation_id": "6717e240-6eb7-4b86-9ca0-58345243742c", + "observation_id": "39522e25-1a83-4c63-b709-320db062a5c8", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5227826547122322 }, { - "observation_id": "a1932f32-df0d-4d1c-a709-ef1e66ebc81b", + "observation_id": "46722ca4-cca2-43ee-8880-24fdee901f1b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5046333482067283 }, { - "observation_id": "f772f877-7ecd-473e-98cb-da1867c7665e", + "observation_id": "0a2c5da9-efd8-4d12-94ce-0fba94b74374", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4723088830007061 }, { - "observation_id": "d1cb3430-fb40-413a-813b-69935f64c227", + "observation_id": "d4dfd711-abca-42d0-8331-7f21361c6a8d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.13607001327160623 }, { - "observation_id": "645a8fff-2f5d-4222-8b9c-4a5710cc9385", + "observation_id": "6fd48197-2029-43ca-a7e4-62d3b9a760d8", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.46988879526830113 }, { - "observation_id": "5917e84e-acd4-4f59-95a2-926ec5e58eb2", + "observation_id": "96cdd3fa-f04e-48b0-8321-9ed3b73019cf", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.4655541127751829 }, { - "observation_id": "0793b521-e3f5-4828-8315-911513e51eba", + "observation_id": "3c89c755-60cd-4515-a3ee-a21fe407ceaa", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.4655541127751829 }, { - "observation_id": "41c0f927-51ad-456b-a7c3-4e8ff9e54772", + "observation_id": "ea60dba0-109e-45b7-80ed-fe20dc65ab51", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.49001748422717006 }, { - "observation_id": "7023258e-89dc-49b3-a06d-4a28bcf34830", + "observation_id": "1522de61-2fe4-4ba6-b5a2-b18def82657e", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.46225891142368675 }, { - "observation_id": "8a6809ef-8d1e-44b3-a6ff-c97449b0a254", + "observation_id": "1cf986ab-e726-4043-885d-e5a45d8018db", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.43211414091114625 }, { - "observation_id": "ffcef9f7-fa42-4b89-95be-09b12acc120b", + "observation_id": "30465b47-6dcd-4b92-8ff0-911394ccdf93", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.4468602604238168 }, { - "observation_id": "02bd9dda-2fde-4e66-93b8-5e2780868170", + "observation_id": "9e4a382a-a31d-4e02-bf8b-33b1dd48e4c8", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4377857805109236 }, { - "observation_id": "eeba6e41-6ab3-43bd-9433-a5450cc61039", + "observation_id": "6ace4964-9165-485e-ac5c-9ffa32b5e1bd", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.22473325223116958 }, { - "observation_id": "18425f53-7811-4549-a413-e43d54ea7e40", + "observation_id": "42304a3f-a13b-4cd7-bb2a-f0d2e059bf07", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_f_camera_pose.json b/data/evaluations/Scene9/render_f_camera_pose.json index a2efb67..849c1f0 100644 --- a/data/evaluations/Scene9/render_f_camera_pose.json +++ b/data/evaluations/Scene9/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:19Z", + "created_utc": "2026-06-01T16:29:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/render_g_aruco_detection.json b/data/evaluations/Scene9/render_g_aruco_detection.json index 7ff98fb..97e2710 100644 --- a/data/evaluations/Scene9/render_g_aruco_detection.json +++ b/data/evaluations/Scene9/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:17Z", + "created_utc": "2026-06-01T16:29:12Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4ed22d16-c2d8-4fbc-9165-23bb3c671bb5", + "observation_id": "85bbf7da-497e-47e3-a810-4232b3cb2ddb", "type": "aruco", "marker_id": 41, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7407693857081211 }, { - "observation_id": "1bca4d06-1a3b-4543-9cdd-784e7b28df4c", + "observation_id": "8570bb34-0860-4371-955a-a5bcf696e24d", "type": "aruco", "marker_id": 42, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.47851333141876906 }, { - "observation_id": "babe0171-8902-4db2-9a50-27a4ec7d84f5", + "observation_id": "fc7ac70e-d673-4173-bd0a-cafeed2cace7", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5891588970505985 }, { - "observation_id": "db3ca2c8-3d8d-47ff-a38b-742ae4c9cd29", + "observation_id": "64dd3c65-dfde-46b0-87bf-fba6ab424fb0", "type": "aruco", "marker_id": 43, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.38340186913811386 }, { - "observation_id": "6ec27886-7e79-4b00-9ec6-628cd009b08c", + "observation_id": "28425eec-6a02-4ee8-8391-3212b39f4ada", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3490767193505014 }, { - "observation_id": "e7dd82cb-dde0-4160-bec7-054e7909d8e1", + "observation_id": "4f5f6472-2400-4d72-8c48-de0dc598ceba", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.519411428244808 }, { - "observation_id": "6b4de8d0-a32a-449f-b04d-ee559444e718", + "observation_id": "ad1dc23c-80b8-4819-ad61-9322ebb0a5a9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5331747682067169 }, { - "observation_id": "740f2e43-ff17-4f67-9458-ab4fb221e9f4", + "observation_id": "a28006e2-c3d6-478d-8ad5-3940e02a39bb", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.43254677700170213 }, { - "observation_id": "a16dc8e1-76f3-4955-98ec-bbc84353e784", + "observation_id": "a6c694ad-032f-4f0a-9840-aee9c25bd503", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.27711751756945874 }, { - "observation_id": "ec157b33-fe28-4527-b0a4-01f5b5b32c05", + "observation_id": "dddcac92-c4c6-43a0-9c25-8b34e395541b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.48073279309443956 }, { - "observation_id": "c09306da-02d6-4ee4-a39d-82d37977c242", + "observation_id": "66c77a54-3225-48a8-8a6d-e3183fc4e81d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.45515519100712953 }, { - "observation_id": "45fb5703-ed8b-471a-bc43-0b4ad7645c6a", + "observation_id": "53d1a0bc-e5d4-4cf3-be69-295924628ea5", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3775515964613595 }, { - "observation_id": "3fd57096-a6e8-4769-90e2-d837174de623", + "observation_id": "cbc62475-dfcd-4c67-8e54-8369537e7572", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.47991555158957017 }, { - "observation_id": "1a3cdb7d-3652-43d6-abc8-31ea64d3f28b", + "observation_id": "51248c4a-490a-4c71-a1ea-8ef7aa482bc8", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.39662908657084783 }, { - "observation_id": "deee817b-c3c7-457d-ac86-33da00f01a6e", + "observation_id": "b2c38058-ad76-476d-bd62-ba4b0d10c5a5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.1698001278724927 }, { - "observation_id": "0d469273-c77d-4957-8cc9-1f6c6d931af4", + "observation_id": "2cb22b64-02eb-4b44-a93a-c54480b1764c", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.07718187630567852 }, { - "observation_id": "02a463ef-1804-4a53-a63f-2cb8458bed4b", + "observation_id": "bb0e791c-c2bb-4e2c-babe-39499252cc8f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "c98f83f0-e394-4066-b019-6336c024481b", + "observation_id": "29729935-8dc8-4cf3-92da-5ed3843fb7e1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4181682027393045 }, { - "observation_id": "0500566e-ae2e-4b4b-9c41-bf3f14800fa3", + "observation_id": "b9beccd2-bd85-4d2d-8338-3203732ac7d8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.39668368657567366 }, { - "observation_id": "bdb0d68d-4129-4a69-9d7f-d08d652bddfc", + "observation_id": "eecb3e0c-bde3-4c3c-a702-d4cd4d4b387b", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.3829765144945479 }, { - "observation_id": "64b5825c-8a9b-4c80-897d-d1e4784a10d7", + "observation_id": "3d2b8d4d-e439-41e2-b923-0ed75029a06f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3382587531306593 }, { - "observation_id": "7aebb928-3025-4810-a7b4-35b4559be3bf", + "observation_id": "49c5b670-96e8-4772-bf98-4d06f77e10df", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.36403279165733554 }, { - "observation_id": "bb0a4c02-152c-41e5-a371-69b6bea6619d", + "observation_id": "f12f85ae-6f1e-4cd4-8951-d076422cb15b", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3623898971459892 }, { - "observation_id": "e8584ad2-273d-4262-a830-621fe38ca751", + "observation_id": "5a2f96b7-c8b9-4813-82aa-32320577bef0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "ada6e22d-6a63-4808-afea-66a6b2b3b4e1", + "observation_id": "c26b07cd-3aa7-4917-9a1a-63c1c2c82b22", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.29591817114314195 }, { - "observation_id": "a139d459-3682-4d55-a6b3-10cdbfdcfee4", + "observation_id": "eab76f23-7107-423b-9733-89070c839d04", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.3158166687011719 }, { - "observation_id": "b975fa8f-44a8-412a-94f4-deab777415a5", + "observation_id": "85b5f13d-a334-4fb8-9fa2-4b807bb8c267", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.31800273344664126 }, { - "observation_id": "e1350236-4eae-44f2-b963-94c28546d631", + "observation_id": "672e06ea-7c56-40aa-8be3-cf961d988ffd", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.2969848480224609 }, { - "observation_id": "392187f5-b834-461a-9e43-986e2c912ba3", + "observation_id": "c602d90f-ecd1-4461-b853-4c567acff182", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3170967427530611 }, { - "observation_id": "c085910a-f4d0-4bee-a5d2-7e2bff50a155", + "observation_id": "7e09caf1-df00-430f-8968-74a250ef5ae5", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3170967427530611 }, { - "observation_id": "1f7d0314-b32b-4ca0-80ed-7e109c2ae31a", + "observation_id": "0d5607ae-ab1e-4ec9-9a47-9156f41fa455", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.17828567290874034 }, { - "observation_id": "d94ccf50-2d35-4bd9-a6e5-ccebe10e5161", + "observation_id": "0aa5ea22-8d6e-482b-9ec4-153da2440946", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.3167426670523156 }, { - "observation_id": "56f4064b-e40d-4434-a971-c7b9c3fe8426", + "observation_id": "92ab2264-370a-4da6-a098-20b8f7d24f39", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.15449597168691093 }, { - "observation_id": "efac90a0-f0ab-4cee-b44b-9d25324c0a04", + "observation_id": "f0ce9f3d-29a5-4f86-bab2-b66e1776a8d2", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.08171792300897739 }, { - "observation_id": "edd7aeff-78d1-41bd-9902-227c83bf1b78", + "observation_id": "f78cf4fe-e5b9-4756-b01f-e4e0005622cb", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/evaluations/Scene9/render_g_camera_pose.json b/data/evaluations/Scene9/render_g_camera_pose.json index 8656502..b403419 100644 --- a/data/evaluations/Scene9/render_g_camera_pose.json +++ b/data/evaluations/Scene9/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T20:34:19Z", + "created_utc": "2026-06-01T16:29:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/evaluations/Scene9/robot_state.json b/data/evaluations/Scene9/robot_state.json index 033c1d7..030feb6 100644 --- a/data/evaluations/Scene9/robot_state.json +++ b/data/evaluations/Scene9/robot_state.json @@ -1,7 +1,7 @@ { "schema_version": "1.0", "method": "deterministic_geometric_sequential_prefix", - "created_utc": "2026-05-31T20:34:20Z", + "created_utc": "2026-06-01T16:30:02Z", "root_pose": { "translation_m": [ 0.0024976453548978816, diff --git a/pipeline/3_multiview_bundle_adjustment_v4.py b/pipeline/3_multiview_bundle_adjustment_v4.py index 4d7384f..d373a70 100644 --- a/pipeline/3_multiview_bundle_adjustment_v4.py +++ b/pipeline/3_multiview_bundle_adjustment_v4.py @@ -1201,6 +1201,14 @@ def print_observation_weight_summary(obs_weights: Dict[Tuple[int, int], float]) ) +def serialize_vec3(v: Any) -> List[float]: + arr = np.asarray(v, dtype=np.float64).reshape(3) + n = np.linalg.norm(arr) + if n > 1e-12: + arr = arr / n + return [float(x) for x in arr] + + # =================================================================== # Main # =================================================================== @@ -1310,12 +1318,14 @@ def main() -> None: initial_output_markers = [] for marker_id, position in sorted(initial_pos.items()): + normal = marker_meta.get(marker_id, {}).get("normal", None) initial_output_markers.append( { "marker_id": int(marker_id), "position_m": [float(x) for x in position], "position_mm": [float(x * 1000.0) for x in position], "link": marker_to_link.get(marker_id, "unknown"), + "normal": serialize_vec3(normal) if normal is not None else None, } ) @@ -1370,12 +1380,14 @@ def main() -> None: output_markers = [] for marker_id, position in sorted(optimized_pos.items()): + normal = marker_meta.get(marker_id, {}).get("normal", None) output_markers.append( { "marker_id": int(marker_id), "position_m": [float(x) for x in position], "position_mm": [float(x * 1000.0) for x in position], "link": marker_to_link.get(marker_id, "unknown"), + "normal": serialize_vec3(normal) if normal is not None else None, } ) diff --git a/run/run_pipeline.bat b/run/run_pipeline.bat index 89c2112..228d063 100644 --- a/run/run_pipeline.bat +++ b/run/run_pipeline.bat @@ -83,7 +83,7 @@ for %%F in ("%OUT_DIR%\*_camera_pose.json") do ( set POSE_ARGS=!POSE_ARGS! -pose "%%F" ) -python3 "..\pipeline\3_multiview_bundle_adjustment_v5.py" ^ +python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^ -robot "%ROBOT_JSON%" ^ -lambdaWeight 100.0 ^ !DET_ARGS! ^