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a/data/evaluations/Scene11/render_b_aruco_detection.json b/data/evaluations/Scene11/render_b_aruco_detection.json index 8f54221..bc82d57 100644 --- a/data/evaluations/Scene11/render_b_aruco_detection.json +++ b/data/evaluations/Scene11/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T10:46:27Z", + "created_utc": "2026-06-02T16:36:37Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -10,14 +10,14 @@ "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_a.npz", "camera_matrix": [ [ - 1992.8416748046875, + 1768.8695068359375, 0.0, - 719.249267578125 + 639.249267578125 ], [ 0.0, - 1997.40380859375, - 537.7935791015625 + 1774.5469970703125, + 357.7935485839844 ], [ 0.0, @@ -35,3080 +35,1976 @@ }, "image": { "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_b.png", - 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a/data/evaluations/Scene11/render_b_camera_pose.json b/data/evaluations/Scene11/render_b_camera_pose.json index 7c76903..7623996 100644 --- a/data/evaluations/Scene11/render_b_camera_pose.json +++ b/data/evaluations/Scene11/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T10:47:01Z", + "created_utc": "2026-06-02T16:36:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "b", "camera_matrix": [ [ - 1992.8416748046875, + 1768.8695068359375, 0.0, - 719.249267578125 + 639.249267578125 ], [ 0.0, - 1997.40380859375, - 537.7935791015625 + 1774.5469970703125, + 357.7935485839844 ], [ 0.0, @@ -36,46 +36,22 @@ "method": "single_camera_marker_center_lm", "description": "Rigid init from 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+ "created_utc": "2026-06-02T16:36:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "c", "camera_matrix": [ [ - 1992.8416748046875, + 1768.8695068359375, 0.0, - 719.249267578125 + 639.249267578125 ], [ 0.0, - 1997.40380859375, - 537.7935791015625 + 1774.5469970703125, + 357.7935485839844 ], [ 0.0, @@ -36,316 +36,221 @@ "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": 4, "used_marker_ids": [ - 58, - 96, - 62, - 64, - 103, - 51, - 79, 208, 215, - 214, - 210 + 210, + 214 ], "history": { "iters": [ 0, 1, 2, - 3 + 3, + 4 ], "rms": [ 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file diff --git a/data/evaluations/Scene11/render_e_camera_pose.json b/data/evaluations/Scene11/render_e_camera_pose.json index 1f7535d..603a6ac 100644 --- a/data/evaluations/Scene11/render_e_camera_pose.json +++ b/data/evaluations/Scene11/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T10:47:02Z", + "created_utc": "2026-06-02T16:36:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "e", "camera_matrix": [ [ - 1992.8416748046875, + 1768.8695068359375, 0.0, - 719.249267578125 + 639.249267578125 ], [ 0.0, - 1997.40380859375, - 537.7935791015625 + 1774.5469970703125, + 357.7935485839844 ], [ 0.0, @@ -36,18 +36,23 @@ "method": "single_camera_marker_center_lm", "description": 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a/data/evaluations/Scene11/render_f_camera_pose.json +++ b/data/evaluations/Scene11/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T10:47:03Z", + "created_utc": "2026-06-02T16:36:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "f", "camera_matrix": [ [ - 1992.8416748046875, + 1768.8695068359375, 0.0, - 719.249267578125 + 639.249267578125 ], [ 0.0, - 1997.40380859375, - 537.7935791015625 + 1774.5469970703125, + 357.7935485839844 ], [ 0.0, @@ -36,183 +36,175 @@ "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, - 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at end of file diff --git a/data/robot/robot.json b/data/robot/robot.json index 0629011..2f5c476 100644 --- a/data/robot/robot.json +++ b/data/robot/robot.json @@ -94,17 +94,17 @@ "areaEnergy": 120, "exposure": -1.5, "lensDirt": true, - "lensDirtStrength": 0.08, + "lensDirtStrength": 0.2, "dofEnabled": true, "dofFStop": 11.0, "arucoDust": true, - "arucoDustStrength": 1.6, + "arucoDustStrength": 4.6, "markerOffsetMaxMm": 4.0, "markerOffsetSeed": 0, "markerRotationMaxDeg": 3, "motionBlur": true, "motionBlurMaxPx": 5.5, - "focalErrorPct": 0.5, + "focalErrorPct": 0.7, "principalErrorPx": 3.0, "residualDistortion": [ 0.02, @@ -220,13 +220,13 @@ "e": 1 }, "defaultPosition": { - "x": 180, - "y": 86, - "z": -120, - "a": -60, - "b": 22, - "c": 91, - "e": 10 + "x": 50, + "y": 4, + "z": 176, + "a": 20, + "b": 60, + "c": 9, + "e": 5 }, "recognized": { "x": null, diff --git a/data/simulation/Scene11/pose.json b/data/simulation/Scene11/pose.json index 000f5ca..34d0265 100644 --- 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--git a/run/run_sceneGenerator_docker.bat b/run/run_sceneGenerator_docker.bat index e0ef644..a3614c8 100644 --- a/run/run_sceneGenerator_docker.bat +++ b/run/run_sceneGenerator_docker.bat @@ -2,4 +2,4 @@ cd .. cd setup cd generateSets -docker compose run --rm renderer --poses 5 \ No newline at end of file +docker compose run --rm renderer --poses 11 \ No newline at end of file