Bildfehler, falsch plazierte Arucos

This commit is contained in:
chk
2026-06-02 07:29:14 +02:00
parent 33a70c60c9
commit ac81c2e0cb
45 changed files with 22562 additions and 22063 deletions

View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T20:35:32Z",
"created_utc": "2026-06-02T05:24:01Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
"camera_id": "d",
"camera_matrix": [
[
1777.77783203125,
2000.0,
0.0,
640.0
720.0
],
[
0.0,
1777.77783203125,
360.0
2000.0,
540.0
],
[
0.0,
@@ -36,19 +36,21 @@
"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,
"num_used_markers": 13,
"used_marker_ids": [
95,
79,
208,
69,
51,
103,
58,
215,
58,
214,
64,
211,
72,
210,
84,
86
210
],
"history": {
"iters": [
@@ -58,10 +60,10 @@
3
],
"rms": [
0.00597403274948069,
0.0002663955030939687,
0.00011532841963318679,
0.00011532606603497566
0.005280661861970249,
0.00144727257981188,
0.0014397336755201193,
0.0014397336334661356
],
"lambda": [
0.001,
@@ -70,282 +72,308 @@
0.000125
]
},
"residual_rms_px": 0.2899517961993663,
"residual_median_px": 0.2027191362184715,
"residual_max_px": 0.497382094324975,
"sigma2_normalized": 1.828763956789184e-08
"residual_rms_px": 4.072181614150245,
"residual_median_px": 3.1055233944577676,
"residual_max_px": 6.549244562604083,
"sigma2_normalized": 2.6946828159331417e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.8189771175384521,
0.5738260746002197,
-0.0003554785216692835
0.8162084817886353,
0.5777562856674194,
-0.00116585788782686
],
[
0.16141317784786224,
-0.23096679151058197,
-0.9594790935516357
0.16109800338745117,
-0.22952349483966827,
-0.9598783254623413
],
[
-0.5506561994552612,
0.7857340574264526,
-0.28177961707115173
-0.5548433065414429,
0.7832730412483215,
-0.2804144024848938
]
],
"translation_m": [
-0.11494141817092896,
0.08626127988100052,
1.1260441541671753
-0.11429616808891296,
0.08662492036819458,
1.1251342296600342
],
"rvec_rad": [
1.791013830205648,
0.5647426184377776,
-0.4232360985411301
1.7888641155861158,
0.5681972273262575,
-0.42758482030561973
]
},
"camera_in_world": {
"position_m": [
0.700273871421814,
-0.7988913655281067,
0.4000213146209717
0.7036075592041016,
-0.795369565486908,
0.39851996302604675
],
"position_mm": [
700.2738647460938,
-798.891357421875,
400.02130126953125
703.6075439453125,
-795.3695678710938,
398.51995849609375
],
"orientation_deg": {
"roll": 109.72882080078125,
"pitch": 33.41204071044922,
"yaw": 11.149589538574219
"roll": 109.6975326538086,
"pitch": 33.69992446899414,
"yaw": 11.165164947509766
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
2.216412630274248e-07,
8.568442605284599e-08,
8.101192481658667e-08,
3.1247261296675916e-10,
-3.7078996943441625e-08,
-2.4533252340871167e-09
3.546895351742844e-05,
9.896592472599479e-06,
7.677087485067508e-06,
-3.289082421053511e-07,
-6.757139645553152e-06,
2.8909357806575656e-07
],
[
8.568442605284535e-08,
1.1750858828590586e-07,
-1.8303004445813296e-08,
1.0641294472233925e-08,
-1.9333729742684046e-08,
2.6499440484781956e-08
9.896592472599549e-06,
1.4875865779808891e-05,
-5.832008909084875e-06,
2.208486278695395e-06,
-2.5545007780139315e-06,
1.7903709382968203e-06
],
[
8.101192481658637e-08,
-1.8303004445812928e-08,
2.0373994178419427e-07,
-1.32545281474916e-08,
-2.8621231041176948e-08,
-5.377275093167535e-08
7.677087485067167e-06,
-5.832008909084883e-06,
3.145686254824771e-05,
-3.517659367637784e-06,
-2.770144779684103e-06,
-3.4747946329326245e-06
],
[
3.12472612966749e-10,
1.0641294472233915e-08,
-1.3254528147491639e-08,
3.391035530149094e-09,
5.287586629706987e-10,
7.335738875543778e-09
-3.2890824210532233e-07,
2.2084862786954086e-06,
-3.5176593676377983e-06,
7.748655922718187e-07,
4.134068251059262e-08,
3.3553809462382777e-07
],
[
-3.7078996943441446e-08,
-1.9333729742684082e-08,
-2.8621231041176908e-08,
5.287586629706958e-10,
1.1226749971115917e-08,
9.248783970053307e-09
-6.757139645553122e-06,
-2.554500778013915e-06,
-2.770144779684149e-06,
4.1340682510600795e-08,
1.8047775076887459e-06,
1.01101997722802e-06
],
[
-2.4533252340870186e-09,
2.6499440484781966e-08,
-5.377275093167542e-08,
7.335738875543783e-09,
9.248783970053305e-09,
5.7920602181622285e-08
2.8909357806583766e-07,
1.7903709382968299e-06,
-3.4747946329326063e-06,
3.355380946238432e-07,
1.0110199772280057e-06,
5.948406005486526e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.02697416070410817,
0.019640721468568496,
0.025861917458691572
0.34122969659055974,
0.22098548966816584,
0.32135150244682875
],
"tvec_std_m": [
5.8232598517918584e-05,
0.00010595635880453762,
0.00024066699437526177
0.0008802645013129966,
0.001343420078638378,
0.002438935424624138
]
},
"camera_center_std_m": [
0.0003660062386654915,
0.00027413989856711054,
0.0004968469197846795
0.00420518761935822,
0.004035539737944341,
0.005875404305514575
],
"camera_center_std_mm": [
0.3660062386654915,
0.2741398985671105,
0.49684691978467954
4.20518761935822,
4.035539737944341,
5.875404305514575
],
"orientation_std_deg": {
"roll": 0.035416321223141096,
"pitch": 0.021649260634721324,
"yaw": 0.026848844179046608
"roll": 0.47176277926260973,
"pitch": 0.2916080604719235,
"yaw": 0.2839472448045676
}
}
},
"observations": {
"markers": [
{
"marker_id": 208,
"marker_id": 95,
"observed_center_px": [
887.5,
696.5
422.0,
1048.0
],
"projected_center_px": [
887.4547119140625,
696.4945678710938
423.61181640625,
1044.8646240234375
],
"reprojection_error_px": 0.0456127038481222,
"confidence": 0.06739671544456982
"reprojection_error_px": 3.525412690999724,
"confidence": 0.1966298037464167
},
{
"marker_id": 79,
"observed_center_px": [
835.25,
1017.25
],
"projected_center_px": [
836.6884765625,
1018.293212890625
],
"reprojection_error_px": 1.7769378030837164,
"confidence": 0.6308599149142898
},
{
"marker_id": 208,
"observed_center_px": [
1003.5,
919.75
],
"projected_center_px": [
997.5079345703125,
919.7905883789062
],
"reprojection_error_px": 5.992202894608817,
"confidence": 0.6159321401194328
},
{
"marker_id": 69,
"observed_center_px": [
128.0,
929.75
],
"projected_center_px": [
124.33126068115234,
933.2605590820312
],
"reprojection_error_px": 5.077762623251589,
"confidence": 0.6598390021609063
},
{
"marker_id": 51,
"observed_center_px": [
549.0,
937.75
],
"projected_center_px": [
550.4237670898438,
936.4151000976562
],
"reprojection_error_px": 1.9516840101306088,
"confidence": 0.7948303912231248
},
{
"marker_id": 103,
"observed_center_px": [
379.5,
691.25
419.5,
915.25
],
"projected_center_px": [
379.3387756347656,
691.160888671875
425.6794738769531,
913.0805053710938
],
"reprojection_error_px": 0.1842121731738393,
"confidence": 0.17416420855033052
},
{
"marker_id": 58,
"observed_center_px": [
261.5,
685.0
],
"projected_center_px": [
261.41192626953125,
685.052001953125
],
"reprojection_error_px": 0.10227993511679952,
"confidence": 0.24540823915500745
"reprojection_error_px": 6.549244562604083,
"confidence": 0.7846660865006628
},
{
"marker_id": 215,
"observed_center_px": [
714.25,
644.75
805.25,
860.25
],
"projected_center_px": [
713.9305419921875,
645.0276489257812
802.4540405273438,
861.6016235351562
],
"reprojection_error_px": 0.42325210542065045,
"confidence": 0.43828628344822296
"reprojection_error_px": 3.1055233944577676,
"confidence": 0.5682950455343564
},
{
"marker_id": 58,
"observed_center_px": [
292.0,
903.5
],
"projected_center_px": [
293.1023254394531,
906.0203247070312
],
"reprojection_error_px": 2.7508467793277185,
"confidence": 0.7531448873008529
},
{
"marker_id": 214,
"observed_center_px": [
958.75,
638.25
1073.0,
853.25
],
"projected_center_px": [
958.8380126953125,
638.1394653320312
1078.8189697265625,
854.2210693359375
],
"reprojection_error_px": 0.14129454115121634,
"confidence": 0.32624039952470835
"reprojection_error_px": 5.89943932368568,
"confidence": 0.4278239208073023
},
{
"marker_id": 64,
"observed_center_px": [
211.25,
631.75
238.5,
848.0
],
"projected_center_px": [
211.63934326171875,
631.7709350585938
237.8762969970703,
846.0831298828125
],
"reprojection_error_px": 0.38990569644994777,
"confidence": 0.4432762787121197
"reprojection_error_px": 2.0157868146284543,
"confidence": 0.5667786136218291
},
{
"marker_id": 211,
"observed_center_px": [
792.0,
593.5
897.0,
804.25
],
"projected_center_px": [
792.4298095703125,
593.2496948242188
891.6453247070312,
803.4764404296875
],
"reprojection_error_px": 0.497382094324975,
"confidence": 0.3071912693949274
"reprojection_error_px": 5.410262646300272,
"confidence": 0.43521670392955913
},
{
"marker_id": 72,
"observed_center_px": [
1249.25,
596.25
1406.25,
807.0
],
"projected_center_px": [
1249.4110107421875,
596.3731689453125
1408.1475830078125,
807.7481689453125
],
"reprojection_error_px": 0.2027191362184715,
"confidence": 0.018333813047618722
"reprojection_error_px": 2.039749504784534,
"confidence": 0.023139854786786464
},
{
"marker_id": 210,
"observed_center_px": [
462.25,
511.75
521.75,
712.25
],
"projected_center_px": [
462.03570556640625,
511.7359313964844
520.5487060546875,
711.4475708007812
],
"reprojection_error_px": 0.21475574468252528,
"confidence": 0.2483175954884472
},
{
"marker_id": 84,
"observed_center_px": [
1226.5,
549.5
],
"projected_center_px": [
1226.650146484375,
549.448974609375
],
"reprojection_error_px": 0.1585798135280968,
"confidence": 0.07285288505606423
},
{
"marker_id": 86,
"observed_center_px": [
1175.0,
518.25
],
"projected_center_px": [
1174.59326171875,
518.294677734375
],
"reprojection_error_px": 0.4091847130368963,
"confidence": 0.1152962676763461
"reprojection_error_px": 1.4446452030873589,
"confidence": 0.3343680870644677
}
]
},