ChK/appRobotRender
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

calculate scenes

Browse Source
This commit is contained in:
chk
2026-05-31 10:22:19 +02:00
parent a6bdbf98f7
commit ca98774657
281 changed files with 50608 additions and 85815 deletions
Download Patch File Download Diff File Expand all files Collapse all files

753
data/evaluations/Scene4/render_b_camera_pose.json Normal file
View File

@@ -0,0 +1,753 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:08:18Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\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": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1500.0,
360.0
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.0,
0.0,
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": 39,
"used_marker_ids": [
63,
102,
64,
58,
92,
96,
103,
51,
62,
205,
217,
208,
210,
206,
207,
214,
94,
76,
100,
75,
68,
46,
50,
72,
104,
53,
84,
60,
67,
86,
70,
88,
73,
82,
98,
83,
61,
90,
91
],
"history": {
"iters": [
0,
1,
2,
3,
4,
5
],
"rms": [
0.020575032608595386,
0.004424810820750806,
0.00432837086052522,
0.004327614371559951,
0.004327608445785064,
0.004327608392189858
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05,
3.125e-05
]
},
"residual_rms_px": 10.14733508263484,
"residual_median_px": 8.1515243917744,
"residual_max_px": 22.92715798551369,
"sigma2_normalized": 2.028887725754577e-05
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.999478816986084,
-0.026320958510041237,
0.01868927665054798
],
[
-0.015200790017843246,
-0.8944892883300781,
-0.44683095812797546
],
[
0.02847837470471859,
0.4463139772415161,
-0.8944231867790222
]
],
"translation_m": [
-0.31147927045822144,
0.07275499403476715,
1.4727355241775513
],
"rvec_rad": [
2.6782246455504906,
-0.029354034547802457,
0.03334543804222218
]
},
"camera_in_world": {
"position_m": [
0.27048176527023315,
-0.6004223227500916,
1.3555793762207031
],
"position_mm": [
270.48175048828125,
-600.4223022460938,
1355.579345703125
],
"orientation_deg": {
"roll": 153.48095703125,
"pitch": -1.6319111585617065,
"yaw": -0.8713280558586121
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
0.00016517897023735537,
-2.595458168948729e-06,
5.309812302395332e-06,
2.9417843069027054e-06,
1.3955722369138801e-05,
4.269840961937253e-05
],
[
-2.595458168948707e-06,
2.2008885813981885e-05,
-1.2008025375059334e-05,
-2.212477632342808e-06,
-6.323284863736061e-06,
4.976818425976984e-06
],
[
5.30981230239596e-06,
-1.20080253750593e-05,
0.0003037023162896427,
2.059391281562936e-05,
-1.9595155553591405e-05,
-0.00010828457938449221
],
[
2.941784306902735e-06,
-2.2124776323428067e-06,
2.0593912815629318e-05,
2.9754657976733595e-06,
-6.331749701574371e-07,
-4.303088721156909e-06
],
[
1.3955722369138718e-05,
-6.323284863736067e-06,
-1.9595155553591453e-05,
-6.331749701574428e-07,
5.952022142068992e-06,
1.0817195132335349e-05
],
[
4.269840961937223e-05,
4.976818425976919e-06,
-0.00010828457938449228,
-4.3030887211569234e-06,
1.0817195132335356e-05,
7.776154339301455e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.7363766511667729,
0.26879529405631924,
0.9984968164340405
],
"tvec_std_m": [
0.0017249538537808366,
0.0024396766470311166,
0.008818250585746276
]
},
"camera_center_std_m": [
0.019353470869945974,
0.01729795458072384,
0.011781225487268222
],
"camera_center_std_mm": [
19.353470869945973,
17.297954580723843,
11.781225487268221
],
"orientation_std_deg": {
"roll": 0.7844358580120807,
"pitch": 0.7139854103405384,
"yaw": 0.23451801223194624
}
}
},
"observations": {
"markers": [
{
"marker_id": 63,
"observed_center_px": [
1246.0,
678.75
],
"projected_center_px": [
1232.495361328125,
661.6878662109375
],
"reprojection_error_px": 21.75986385742728,
"confidence": 0.1539593300495616
},
{
"marker_id": 102,
"observed_center_px": [
1078.25,
665.5
],
"projected_center_px": [
1070.885986328125,
650.8094482421875
],
"reprojection_error_px": 16.432924520867545,
"confidence": 0.39637168760361213
},
{
"marker_id": 64,
"observed_center_px": [
220.5,
635.25
],
"projected_center_px": [
226.81898498535156,
629.3519287109375
],
"reprojection_error_px": 8.643888949770345,
"confidence": 0.4633649853376546
},
{
"marker_id": 58,
"observed_center_px": [
307.25,
668.0
],
"projected_center_px": [
314.97259521484375,
658.9747924804688
],
"reprojection_error_px": 11.878251033840419,
"confidence": 0.3638956157928849
},
{
"marker_id": 92,
"observed_center_px": [
1064.5,
622.75
],
"projected_center_px": [
1058.8546142578125,
611.7239990234375
],
"reprojection_error_px": 12.387214283819066,
"confidence": 0.46896024883690896
},
{
"marker_id": 96,
"observed_center_px": [
716.75,
628.0
],
"projected_center_px": [
717.998291015625,
619.2009887695312
],
"reprojection_error_px": 8.887115904139277,
"confidence": 0.44372569385651617
},
{
"marker_id": 103,
"observed_center_px": [
382.0,
633.0
],
"projected_center_px": [
387.2203674316406,
626.0833740234375
],
"reprojection_error_px": 8.665561206349725,
"confidence": 0.45199802144368495
},
{
"marker_id": 51,
"observed_center_px": [
462.0,
615.0
],
"projected_center_px": [
465.6719055175781,
608.7420043945312
],
"reprojection_error_px": 7.255714928805215,
"confidence": 0.45199802144368495
},
{
"marker_id": 62,
"observed_center_px": [
760.25,
615.0
],
"projected_center_px": [
760.6807250976562,
606.85986328125
],
"reprojection_error_px": 8.1515243917744,
"confidence": 0.44348322079976393
},
{
"marker_id": 205,
"observed_center_px": [
1181.0,
502.0
],
"projected_center_px": [
1178.7230224609375,
506.2425231933594
],
"reprojection_error_px": 4.8149381885531355,
"confidence": 0.3958181457519531
},
{
"marker_id": 217,
"observed_center_px": [
1058.0,
503.25
],
"projected_center_px": [
1057.3074951171875,
508.1011962890625
],
"reprojection_error_px": 4.900374317104044,
"confidence": 0.4015868133874269
},
{
"marker_id": 208,
"observed_center_px": [
688.75,
507.0
],
"projected_center_px": [
690.1837768554688,
513.7213134765625
],
"reprojection_error_px": 6.872537444168532,
"confidence": 0.3776
},
{
"marker_id": 210,
"observed_center_px": [
291.0,
441.75
],
"projected_center_px": [
286.7082824707031,
452.4179382324219
],
"reprojection_error_px": 11.498858442560394,
"confidence": 0.3320910299473707
},
{
"marker_id": 206,
"observed_center_px": [
1043.0,
424.5
],
"projected_center_px": [
1044.7657470703125,
432.33563232421875
],
"reprojection_error_px": 8.032122797658095,
"confidence": 0.3579602826436361
},
{
"marker_id": 207,
"observed_center_px": [
1162.0,
423.25
],
"projected_center_px": [
1163.2945556640625,
430.6663818359375
],
"reprojection_error_px": 7.528518705813248,
"confidence": 0.343462485354258
},
{
"marker_id": 214,
"observed_center_px": [
686.25,
427.75
],
"projected_center_px": [
686.4385986328125,
437.3819580078125
],
"reprojection_error_px": 9.63380425940667,
"confidence": 0.3244367816091954
},
{
"marker_id": 94,
"observed_center_px": [
1252.0,
279.5
],
"projected_center_px": [
1260.9169921875,
281.5245666503906
],
"reprojection_error_px": 9.143938964899643,
"confidence": 0.06057156860351561
},
{
"marker_id": 76,
"observed_center_px": [
1046.0,
287.5
],
"projected_center_px": [
1051.7015380859375,
289.6123962402344
],
"reprojection_error_px": 6.080275850744946,
"confidence": 0.2459421895345052
},
{
"marker_id": 100,
"observed_center_px": [
1173.25,
281.5
],
"projected_center_px": [
1181.369384765625,
283.5131530761719
],
"reprojection_error_px": 8.365237251887338,
"confidence": 0.24407473894265982
},
{
"marker_id": 75,
"observed_center_px": [
271.75,
271.5
],
"projected_center_px": [
255.08782958984375,
275.9595031738281
],
"reprojection_error_px": 17.24862578104324,
"confidence": 0.23896265492072474
},
{
"marker_id": 68,
"observed_center_px": [
924.0,
285.25
],
"projected_center_px": [
927.3587036132812,
287.90557861328125
],
"reprojection_error_px": 4.2817038352956285,
"confidence": 0.24909137483284013
},
{
"marker_id": 46,
"observed_center_px": [
881.75,
273.5
],
"projected_center_px": [
884.6890869140625,
276.23724365234375
],
"reprojection_error_px": 4.016308591319843,
"confidence": 0.23734254719660833
},
{
"marker_id": 50,
"observed_center_px": [
918.75,
251.75
],
"projected_center_px": [
922.5197143554688,
254.34091186523438
],
"reprojection_error_px": 4.5742289640156235,
"confidence": 0.21965114789131363
},
{
"marker_id": 72,
"observed_center_px": [
777.75,
267.25
],
"projected_center_px": [
777.7019653320312,
270.2060546875
],
"reprojection_error_px": 2.956444933499961,
"confidence": 0.21841319450965294
},
{
"marker_id": 104,
"observed_center_px": [
1184.0,
228.0
],
"projected_center_px": [
1194.9227294921875,
229.5440673828125
],
"reprojection_error_px": 11.031326467935216,
"confidence": 0.22417849731445313
},
{
"marker_id": 53,
"observed_center_px": [
825.5,
252.25
],
"projected_center_px": [
826.466796875,
255.10888671875
],
"reprojection_error_px": 3.017934636163432,
"confidence": 0.22367025973033955
},
{
"marker_id": 84,
"observed_center_px": [
738.0,
217.0
],
"projected_center_px": [
736.8594970703125,
219.24961853027344
],
"reprojection_error_px": 2.522207458631306,
"confidence": 0.21633306884765624
},
{
"marker_id": 60,
"observed_center_px": [
765.0,
197.25
],
"projected_center_px": [
764.59716796875,
199.09512329101562
],
"reprojection_error_px": 1.8885850800134294,
"confidence": 0.2000031054889577
},
{
"marker_id": 67,
"observed_center_px": [
859.25,
209.25
],
"projected_center_px": [
862.0860595703125,
211.1598358154297
],
"reprojection_error_px": 3.4191675490181965,
"confidence": 0.19627771759033205
},
{
"marker_id": 86,
"observed_center_px": [
690.25,
192.0
],
"projected_center_px": [
686.7022094726562,
193.53208923339844
],
"reprojection_error_px": 3.864468274550259,
"confidence": 0.18966921411877496
},
{
"marker_id": 70,
"observed_center_px": [
938.0,
183.5
],
"projected_center_px": [
943.7805786132812,
184.51622009277344
],
"reprojection_error_px": 5.869224172007833,
"confidence": 0.193995418548584
},
{
"marker_id": 88,
"observed_center_px": [
1105.0,
170.0
],
"projected_center_px": [
1116.7425537109375,
170.80068969726562
],
"reprojection_error_px": 11.769820374396517,
"confidence": 0.2032033303021305
},
{
"marker_id": 73,
"observed_center_px": [
543.5,
162.5
],
"projected_center_px": [
533.3178100585938,
163.5453643798828
],
"reprojection_error_px": 10.235710951839271,
"confidence": 0.1929997138977051
},
{
"marker_id": 82,
"observed_center_px": [
540.0,
189.0
],
"projected_center_px": [
530.5038452148438,
191.06707763671875
],
"reprojection_error_px": 9.718526928494294,
"confidence": 0.19249963767972095
},
{
"marker_id": 98,
"observed_center_px": [
908.75,
172.5
],
"projected_center_px": [
913.72265625,
173.55198669433594
],
"reprojection_error_px": 5.082714450539585,
"confidence": 0.1899538473288218
},
{
"marker_id": 83,
"observed_center_px": [
361.0,
159.75
],
"projected_center_px": [
341.750244140625,
160.75296020507812
],
"reprojection_error_px": 19.275866512779977,
"confidence": 0.17676838843571283
},
{
"marker_id": 61,
"observed_center_px": [
292.25,
162.5
],
"projected_center_px": [
269.3736267089844,
164.02516174316406
],
"reprojection_error_px": 22.92715798551369,
"confidence": 0.1668050360320266
},
{
"marker_id": 90,
"observed_center_px": [
978.25,
170.75
],
"projected_center_px": [
986.0879516601562,
171.7943878173828
],
"reprojection_error_px": 7.9072265770018095,
"confidence": 0.17612778902053833
},
{
"marker_id": 91,
"observed_center_px": [
1059.25,
161.75
],
"projected_center_px": [
1069.8170166015625,
162.17193603515625
],
"reprojection_error_px": 10.57543710091743,
"confidence": 0.17612778902053833
}
]
},
"qa": {
"sanity_notes": []
}
}