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

Claude: Studie - Wie viele Kameras brauchts

Browse Source
This commit is contained in:
chk
2026-06-02 23:20:40 +02:00
parent b6833c960f
commit da4724cf34
213 changed files with 192104 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

970
data/camera_study/Scene10/k3_bcf/aruco_marker_poses.json Normal file
View File

@@ -0,0 +1,970 @@
{
"schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": "2026-06-02T21:18:24Z",
"summary": {
"num_cameras": 3,
"num_markers": 21
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.3032080331514599,
-0.8954064004634189,
1.2012942891546714
],
"position_mm": [
303.2080331514599,
-895.4064004634189,
1201.2942891546713
],
"direction": [
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
},
{
"camera_id": "c",
"position_m": [
0.30460041510025276,
-0.9022090407414753,
0.3986456232339163
],
"position_mm": [
304.60041510025275,
-902.2090407414753,
398.6456232339163
],
"direction": [
-0.10995042324066162,
0.9492284059524536,
-0.2947479486465454
]
},
{
"camera_id": "f",
"position_m": [
0.48447032537390755,
-0.3056860451708503,
1.4030927838623561
],
"position_mm": [
484.47032537390754,
-305.6860451708503,
1403.092783862356
],
"direction": [
-0.2268645018339157,
0.08511359244585037,
-0.9702000617980957
]
}
],
"markers": [
{
"marker_id": 47,
"link": "Board",
"position_m": [
0.3436166481186511,
-0.28821171226467623,
-0.02826860490789652
],
"position_mm": [
343.61664811865114,
-288.21171226467624,
-28.26860490789652
],
"normal": [
0.007209352101609322,
0.09829365627164044,
0.9951313392608172
],
"corners_m": [
[
0.33202807746381735,
-0.3000897160896099,
-0.02692916230025777
],
[
0.3317349116344921,
-0.276115991188456,
-0.02945767156122523
],
[
0.3554715890660271,
-0.2764584958427844,
-0.02943406347377223
],
[
0.3552320143102679,
-0.30018264593785465,
-0.02725352229633085
]
],
"num_cameras": 2,
"edge_length_mm": 23.719845695325144
},
{
"marker_id": 50,
"link": "Board",
"position_m": [
0.5710832583917255,
0.2116990032274318,
-0.027206452686000037
],
"position_mm": [
571.0832583917255,
211.6990032274318,
-27.206452686000038
],
"normal": [
-0.0021351011189268904,
0.03872167744333939,
0.9992477535822565
],
"corners_m": [
[
0.5597433253260713,
0.1997060226348541,
-0.026893711012318293
],
[
0.5595176351052566,
0.22363229001403293,
-0.02756428106695161
],
[
0.5822918235446088,
0.2234173386146327,
-0.02776881159262562
],
[
0.582780249590965,
0.20004036164620748,
-0.02659900707210462
]
],
"num_cameras": 2,
"edge_length_mm": 23.29135146226515
},
{
"marker_id": 51,
"link": "Board",
"position_m": [
0.16791872374759645,
-0.17342961591184627,
-0.02765114834793561
],
"position_mm": [
167.91872374759646,
-173.42961591184627,
-27.65114834793561
],
"normal": [
-0.0073555997645547095,
0.0046426269654396566,
0.9999621698679223
],
"corners_m": [
[
0.15589472544740357,
-0.18440985808702454,
-0.027669270016932455
],
[
0.15631651583135628,
-0.16136651257446266,
-0.0278116138956659
],
[
0.18009237675097942,
-0.16220951217838367,
-0.027594981218068197
],
[
0.1793712769606465,
-0.1857325808075142,
-0.027528728261075906
]
],
"num_cameras": 3,
"edge_length_mm": 23.4719622085978
},
{
"marker_id": 53,
"link": "Board",
"position_m": [
0.4887749088558654,
0.2151305617304476,
-0.027257104749172038
],
"position_mm": [
488.77490885586536,
215.1305617304476,
-27.257104749172036
],
"normal": [
-0.032364710715890845,
0.050705056870831045,
0.9981891217139178
],
"corners_m": [
[
0.47699430612106947,
0.20340471073717656,
-0.027263892163923574
],
[
0.47726095275340014,
0.22755352164452325,
-0.028037232326808686
],
[
0.5003725394594621,
0.22666304788001002,
-0.02769443228403516
],
[
0.5004718370895298,
0.20290096666008045,
-0.02603286222192074
]
],
"num_cameras": 2,
"edge_length_mm": 23.657356615577978
},
{
"marker_id": 54,
"link": "Board",
"position_m": [
0.3397714028477032,
-0.3275278626596011,
-0.027389597745727173
],
"position_mm": [
339.7714028477032,
-327.5278626596011,
-27.389597745727173
],
"normal": [
-0.008783081997324433,
0.006358985973062059,
0.9999412086558003
],
"corners_m": [
[
0.32790872658783493,
-0.3389676678343468,
-0.027101377695907626
],
[
0.32822767221786747,
-0.3160360742992918,
-0.027889943252199158
],
[
0.3514031722118431,
-0.3160229628313947,
-0.027036416975363235
],
[
0.35154604037326725,
-0.3390847456733711,
-0.027530653059438682
]
],
"num_cameras": 2,
"edge_length_mm": 23.21190055480645
},
{
"marker_id": 55,
"link": "Board",
"position_m": [
0.2845060641699074,
-0.26113810355463385,
-0.027318476129432744
],
"position_mm": [
284.5060641699074,
-261.13810355463386,
-27.318476129432742
],
"normal": [
-0.1049588853997393,
0.06572656653138365,
0.9923021973308535
],
"corners_m": [
[
0.27239014525854466,
-0.2724678567977236,
-0.027870705905749728
],
[
0.27307733601892176,
-0.24851949440187393,
-0.02934174304491615
],
[
0.2964742666445531,
-0.2502003210170896,
-0.026799167937915227
],
[
0.2960825087576102,
-0.27336474200184824,
-0.025262287629149865
]
],
"num_cameras": 2,
"edge_length_mm": 23.667250261152997
},
{
"marker_id": 58,
"link": "Board",
"position_m": [
0.047336861700937254,
-0.21643100832679277,
-0.027209077984690494
],
"position_mm": [
47.336861700937256,
-216.43100832679278,
-27.209077984690495
],
"normal": [
0.0013588198906133635,
-0.0036434141538534276,
0.999992439542324
],
"corners_m": [
[
0.035361871794753426,
-0.22834202681993007,
-0.027259175356223724
],
[
0.035636338795523775,
-0.20492512880256072,
-0.027128009198217347
],
[
0.059170172929795664,
-0.2045790098019498,
-0.027205336754186512
],
[
0.05917906328367614,
-0.22787786788273048,
-0.027243790630134396
]
],
"num_cameras": 2,
"edge_length_mm": 23.51899761077337
},
{
"marker_id": 62,
"link": "Board",
"position_m": [
0.40195893468389354,
-0.1730690690188278,
-0.027852010065405726
],
"position_mm": [
401.9589346838935,
-173.0690690188278,
-27.852010065405725
],
"normal": [
0.0017212777438192811,
-0.0053587107259354125,
0.9999841605856987
],
"corners_m": [
[
0.3906574557457861,
-0.1848411392095625,
-0.028039702097584905
],
[
0.3898255212778355,
-0.1623495548051233,
-0.027627887490897778
],
[
0.4130975129900397,
-0.16085020238787334,
-0.027945900724468786
],
[
0.41425524872191294,
-0.18423537967275203,
-0.027794549948671442
]
],
"num_cameras": 3,
"edge_length_mm": 23.213572182010246
},
{
"marker_id": 64,
"link": "Board",
"position_m": [
-0.019382650059862762,
-0.18917653791773745,
-0.026957093891842268
],
"position_mm": [
-19.382650059862762,
-189.17653791773745,
-26.95709389184227
],
"normal": [
-0.0036895694854724224,
-0.002089752665000555,
0.9999910099649952
],
"corners_m": [
[
-0.03137708625041169,
-0.20074261484200326,
-0.027071480712948175
],
[
-0.030734222604308494,
-0.17724794781407496,
-0.02692736504164147
],
[
-0.007571739034749721,
-0.1777707612798837,
-0.026937017399137193
],
[
-0.007847552349981128,
-0.2009448277349879,
-0.026892512413642246
]
],
"num_cameras": 3,
"edge_length_mm": 23.344780326701905
},
{
"marker_id": 69,
"link": "Board",
"position_m": [
0.005461376006755128,
-0.2771866591269858,
-0.02862082525934384
],
"position_mm": [
5.4613760067551285,
-277.18665912698583,
-28.62082525934384
],
"normal": [
-0.0481151300319273,
0.04461057597814089,
0.9978450935756058
],
"corners_m": [
[
-0.006626639484829631,
-0.2887188238947474,
-0.028701492094985924
],
[
-0.005884142071034708,
-0.2647413483611325,
-0.029710809034653167
],
[
0.01744885102852476,
-0.26568526813911403,
-0.028570507713787125
],
[
0.01690743455436009,
-0.28960119611294954,
-0.027500492193949153
]
],
"num_cameras": 2,
"edge_length_mm": 23.729320661458335
},
{
"marker_id": 72,
"link": "Board",
"position_m": [
0.4418452616655221,
0.19411425116661324,
-0.02779585459975433
],
"position_mm": [
441.8452616655221,
194.11425116661323,
-27.795854599754332
],
"normal": [
0.07280118041719603,
0.022422351374504552,
0.9970943918650336
],
"corners_m": [
[
0.4307227295960595,
0.18191561788154603,
-0.027235283274477804
],
[
0.4297867172132932,
0.2046788349673567,
-0.02663320550543597
],
[
0.4530171550582433,
0.20660276862766846,
-0.029398595655283615
],
[
0.4538544447944925,
0.18325978318988173,
-0.027916333963819928
]
],
"num_cameras": 2,
"edge_length_mm": 23.212391570768254
},
{
"marker_id": 75,
"link": "Board",
"position_m": [
-0.02691801127237862,
0.19203042112323523,
-0.026095455172446387
],
"position_mm": [
-26.918011272378617,
192.03042112323524,
-26.095455172446385
],
"normal": [
0.01151440600903989,
0.11716089972169964,
0.9930461933015305
],
"corners_m": [
[
-0.038675716193917666,
0.18060309130469676,
-0.02467789751476288
],
[
-0.03805691243723057,
0.20490089438667064,
-0.027416756722324426
],
[
-0.015336524287976463,
0.2035022598635591,
-0.02765095163100934
],
[
-0.015602892170389763,
0.17911543893801443,
-0.024636214821688904
]
],
"num_cameras": 2,
"edge_length_mm": 23.72969522078461
},
{
"marker_id": 95,
"link": "Board",
"position_m": [
0.18644805757385213,
-0.2768058988097969,
-0.028211526205636286
],
"position_mm": [
186.44805757385214,
-276.8058988097969,
-28.211526205636286
],
"normal": [
0.03651643975758265,
0.033286483429586844,
0.9987785338343644
],
"corners_m": [
[
0.17532045939457383,
-0.2890628991211558,
-0.027326940392448328
],
[
0.17412976540180114,
-0.2657845680626329,
-0.028198598897121965
],
[
0.1974545314721962,
-0.26488243788460775,
-0.02893913975631757
],
[
0.19888747402683743,
-0.2874936901707913,
-0.02838142577665728
]
],
"num_cameras": 2,
"edge_length_mm": 23.246301820606973
},
{
"marker_id": 96,
"link": "Board",
"position_m": [
0.3718203946498768,
-0.1837009344760794,
-0.02820900376572861
],
"position_mm": [
371.8203946498768,
-183.7009344760794,
-28.20900376572861
],
"normal": [
0.0034740978700644374,
-0.0317367185226094,
0.9994902257358027
],
"corners_m": [
[
0.3601217296589553,
-0.19460186516196362,
-0.028921668543352534
],
[
0.3600538880189521,
-0.17292637116137147,
-0.02741065045791009
],
[
0.38326420381864224,
-0.17196902579574286,
-0.02826311606244047
],
[
0.3838417571029574,
-0.19530647578523977,
-0.028240579999211333
]
],
"num_cameras": 2,
"edge_length_mm": 23.014689793132913
},
{
"marker_id": 103,
"link": "Board",
"position_m": [
0.10456381589335591,
-0.19064892488121357,
-0.027670939918298124
],
"position_mm": [
104.56381589335591,
-190.64892488121356,
-27.670939918298124
],
"normal": [
-0.014024578586648682,
0.0013919085417397612,
0.9999006819610028
],
"corners_m": [
[
0.09267552109965288,
-0.20234038613754946,
-0.02796226355325225
],
[
0.09267244388156116,
-0.17913679174319896,
-0.027710192478489028
],
[
0.11622754936021389,
-0.17884697856436124,
-0.02766596753476839
],
[
0.11667974923199569,
-0.2022715430797446,
-0.02734533610668283
]
],
"num_cameras": 3,
"edge_length_mm": 23.55131738245559
},
{
"marker_id": 113,
"link": "Arm2",
"position_m": [
0.31039227929765967,
-0.15598524044581777,
0.1572958810864113
],
"position_mm": [
310.3922792976597,
-155.98524044581777,
157.2958810864113
],
"normal": [
-0.3523307546205755,
-0.7400907877620138,
0.5728251611253629
],
"corners_m": [
[
0.2989045733970478,
-0.14539244558516162,
0.1639854616851988
],
[
0.321415532748828,
-0.15163565827722417,
0.16962635397157097
],
[
0.32189599456689566,
-0.1666660181859877,
0.15064101666023955
],
[
0.29935301647786705,
-0.1602468397348976,
0.1449306920286359
]
],
"num_cameras": 3,
"edge_length_mm": 24.135271992450146
},
{
"marker_id": 210,
"link": "Board",
"position_m": [
0.021975144504317434,
-0.020746981627774087,
0.0014059822413918699
],
"position_mm": [
21.975144504317434,
-20.746981627774087,
1.40598224139187
],
"normal": [
-0.012440384263256164,
0.013570809776063732,
0.999830520619072
],
"corners_m": [
[
0.009676386055767804,
-0.009348808121466521,
0.0010156376305461585
],
[
0.03352532573343293,
-0.009117561782226958,
0.0014762355424533058
],
[
0.03437181181260819,
-0.031898977433100155,
0.0016279283849387832
],
[
0.010327054415460815,
-0.032622579174302724,
0.0015041274076292327
]
],
"num_cameras": 3,
"edge_length_mm": 23.49902482373173
},
{
"marker_id": 211,
"link": "Board",
"position_m": [
0.2534765799640006,
-0.00990533115235763,
0.0006711686243000316
],
"position_mm": [
253.4765799640006,
-9.905331152357629,
0.6711686243000315
],
"normal": [
0.023329877674467217,
-0.016810548612876453,
0.9995864756303121
],
"corners_m": [
[
0.24219874745725403,
0.002005050181631297,
0.0008280087991426144
],
[
0.2658100613955452,
0.0006598283581765684,
0.0008935683482172707
],
[
0.26508194039842825,
-0.020888471275625264,
-0.0001090963102060543
],
[
0.24081557060477496,
-0.021397731873613123,
0.0010721936600462953
]
],
"num_cameras": 2,
"edge_length_mm": 23.244732406710717
},
{
"marker_id": 243,
"link": "Arm1",
"position_m": [
0.23058518440123105,
-0.03899965767942197,
0.30795571718757914
],
"position_mm": [
230.58518440123106,
-38.99965767942197,
307.9557171875791
],
"normal": [
0.01036094699270762,
-0.5013938483026384,
0.8651571300415232
],
"corners_m": [
[
0.21903500810874385,
-0.028879099739025374,
0.31406441172189514
],
[
0.24243313914800302,
-0.02875136488391475,
0.3136490564549332
],
[
0.24221662581691708,
-0.049310531507073055,
0.3019442073233465
],
[
0.21865596453126024,
-0.04905763458767469,
0.30216519325014163
]
],
"num_cameras": 3,
"edge_length_mm": 23.513155299972457
},
{
"marker_id": 246,
"link": "Ellbow",
"position_m": [
0.32041224968964754,
-0.04728793598870259,
0.2994420726242033
],
"position_mm": [
320.4122496896475,
-47.287935988702586,
299.4420726242033
],
"normal": [
-0.03828882276087287,
-0.7662805941680575,
0.6413641844171182
],
"corners_m": [
[
0.30817379432501346,
-0.039890508675053234,
0.30778706560026853
],
[
0.33203442942844696,
-0.040194785996597676,
0.30839043754631623
],
[
0.33289549656321266,
-0.05547177774194027,
0.29062528663143866
],
[
0.30854527844191704,
-0.0535946715412192,
0.2909655007187897
]
],
"num_cameras": 3,
"edge_length_mm": 23.36042949027438
},
{
"marker_id": 247,
"link": "Ellbow",
"position_m": [
0.282155127445799,
-0.04331542452832001,
0.3039341910161659
],
"position_mm": [
282.155127445799,
-43.31542452832001,
303.9341910161659
],
"normal": [
-0.003020500813369656,
-0.7713254285207605,
0.6364337828023444
],
"corners_m": [
[
0.26969955946937557,
-0.036068358675150555,
0.31277948789125415
],
[
0.2936821255827764,
-0.03531216016679997,
0.3135673259300738
],
[
0.2946107824515746,
-0.05069491166717042,
0.2951708662213472
],
[
0.27062804227946935,
-0.05118626760415909,
0.2942190840219886
]
],
"num_cameras": 3,
"edge_length_mm": 23.99216745866251
}
]
}

467
data/camera_study/Scene10/k3_bcf/aruco_positions_initial.json Normal file
View File

@@ -0,0 +1,467 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T21:18:22Z",
"summary": {
"num_cameras": 3,
"num_markers": 21,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.3032080331514599,
-0.8954064004634189,
1.2012942891546714
],
"position_mm": [
303.2080331514599,
-895.4064004634189,
1201.2942891546713
],
"direction": [
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
},
{
"camera_id": "c",
"position_m": [
0.30460041510025276,
-0.9022090407414753,
0.3986456232339163
],
"position_mm": [
304.60041510025275,
-902.2090407414753,
398.6456232339163
],
"direction": [
-0.10995042324066162,
0.9492284059524536,
-0.2947479486465454
]
},
{
"camera_id": "f",
"position_m": [
0.48447032537390755,
-0.3056860451708503,
1.4030927838623561
],
"position_mm": [
484.47032537390754,
-305.6860451708503,
1403.092783862356
],
"direction": [
-0.2268645018339157,
0.08511359244585037,
-0.9702000617980957
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.34362376119505184,
-0.28822802330848873,
-0.02838439981716169
],
"position_mm": [
343.6237611950518,
-288.22802330848873,
-28.38439981716169
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5711062778300803,
0.21167185790153248,
-0.027236392665058094
],
"position_mm": [
571.1062778300803,
211.6718579015325,
-27.236392665058094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1681080245114533,
-0.17338209734396196,
-0.027665654811361316
],
"position_mm": [
168.1080245114533,
-173.38209734396196,
-27.665654811361318
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4887969373394409,
0.2151519019436198,
-0.027344778657349317
],
"position_mm": [
488.7969373394409,
215.1519019436198,
-27.344778657349316
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33977845371465965,
-0.3275377366355863,
-0.027511385593835203
],
"position_mm": [
339.77845371465963,
-327.53773663558627,
-27.511385593835204
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28451831695033303,
-0.2611490420952993,
-0.027432455430368343
],
"position_mm": [
284.51831695033303,
-261.1490420952993,
-27.432455430368343
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04730748420954963,
-0.21643106768910866,
-0.02731427763285767
],
"position_mm": [
47.30748420954963,
-216.43106768910866,
-27.31427763285767
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40224108783950074,
-0.17317266047438684,
-0.027915283076296118
],
"position_mm": [
402.2410878395007,
-173.17266047438684,
-27.915283076296117
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.0193340456258843,
-0.18908183378146987,
-0.0269886851594388
],
"position_mm": [
-19.3340456258843,
-189.08183378146987,
-26.988685159438802
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005437878298835949,
-0.27719563632950794,
-0.028747015326655703
],
"position_mm": [
5.437878298835949,
-277.1956363295079,
-28.747015326655703
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4418532539715914,
0.19413790567464606,
-0.027882661763834013
],
"position_mm": [
441.8532539715914,
194.13790567464605,
-27.88266176383401
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.026936945718752204,
0.19204390531856444,
-0.026180302369459785
],
"position_mm": [
-26.936945718752202,
192.04390531856444,
-26.180302369459785
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18643705281694659,
-0.2768133218389805,
-0.028327734678142556
],
"position_mm": [
186.4370528169466,
-276.81332183898047,
-28.327734678142555
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37184117858824706,
-0.18370226748878932,
-0.028303665298172874
],
"position_mm": [
371.84117858824703,
-183.70226748878932,
-28.303665298172874
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.104643992349152,
-0.19049889834733683,
-0.02767913014219985
],
"position_mm": [
104.643992349152,
-190.49889834733682,
-27.67913014219985
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3104023247371725,
-0.156306068910436,
0.15701631582941594
],
"position_mm": [
310.4023247371725,
-156.306068910436,
157.01631582941593
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021879164348029265,
-0.020554696828167546,
0.0014186542106848566
],
"position_mm": [
21.879164348029263,
-20.554696828167547,
1.4186542106848565
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2534764225210652,
-0.009923104246820535,
0.0006217621524497073
],
"position_mm": [
253.47642252106522,
-9.923104246820534,
0.6217621524497072
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.23007529276737815,
-0.039070066670461895,
0.30766836125299685
],
"position_mm": [
230.07529276737816,
-39.0700666704619,
307.6683612529969
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.32003366451689874,
-0.047550984998695776,
0.29904813179015116
],
"position_mm": [
320.03366451689874,
-47.550984998695775,
299.04813179015116
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2817741877107397,
-0.04353822356404724,
0.30355372204569236
],
"position_mm": [
281.7741877107397,
-43.53822356404724,
303.5537220456924
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

466
data/camera_study/Scene10/k3_bcf/aruco_positions_optimized.json Normal file
View File

@@ -0,0 +1,466 @@
{
"schema_version": "1.2",
"created_utc": "2026-06-02T21:18:23Z",
"summary": {
"num_cameras": 3,
"num_markers": 21,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.3032080331514599,
-0.8954064004634189,
1.2012942891546714
],
"position_mm": [
303.2080331514599,
-895.4064004634189,
1201.2942891546713
],
"direction": [
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
},
{
"camera_id": "c",
"position_m": [
0.30460041510025276,
-0.9022090407414753,
0.3986456232339163
],
"position_mm": [
304.60041510025275,
-902.2090407414753,
398.6456232339163
],
"direction": [
-0.10995042324066162,
0.9492284059524536,
-0.2947479486465454
]
},
{
"camera_id": "f",
"position_m": [
0.48447032537390755,
-0.3056860451708503,
1.4030927838623561
],
"position_mm": [
484.47032537390754,
-305.6860451708503,
1403.092783862356
],
"direction": [
-0.2268645018339157,
0.08511359244585037,
-0.9702000617980957
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.3435625355559886,
-0.2872244885753075,
-0.03284846919997607
],
"position_mm": [
343.5625355559886,
-287.22448857530753,
-32.848469199976066
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5711319307113435,
0.21166459153790063,
-0.027235486495907867
],
"position_mm": [
571.1319307113434,
211.66459153790063,
-27.235486495907868
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16768915276401217,
-0.17421241547278415,
-0.02723316096374491
],
"position_mm": [
167.68915276401216,
-174.21241547278416,
-27.23316096374491
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4877971078673603,
0.21334664320899632,
-0.02479507468260547
],
"position_mm": [
487.7971078673603,
213.3466432089963,
-24.79507468260547
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3399432756521919,
-0.32960914296293337,
-0.021243141956293742
],
"position_mm": [
339.9432756521919,
-329.6091429629334,
-21.24314195629374
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2842427960912926,
-0.26092179659099485,
-0.02786074101423009
],
"position_mm": [
284.24279609129263,
-260.92179659099486,
-27.86074101423009
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04897095179281787,
-0.21820511649277657,
-0.025746562498617363
],
"position_mm": [
48.97095179281787,
-218.20511649277657,
-25.74656249861736
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40317399381142904,
-0.17093303515331834,
-0.029760191929519737
],
"position_mm": [
403.17399381142906,
-170.93303515331834,
-29.76019192951974
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021567387874784783,
-0.18660383431735045,
-0.029025717853098168
],
"position_mm": [
-21.56738787478478,
-186.60383431735045,
-29.02571785309817
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005395431793948969,
-0.2805304142229221,
-0.024049577382291448
],
"position_mm": [
5.395431793948969,
-280.53041422292205,
-24.049577382291446
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4427691357193352,
0.19552685680445794,
-0.02974821913422018
],
"position_mm": [
442.76913571933517,
195.52685680445794,
-29.74821913422018
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.02692349351398255,
0.19204202689794925,
-0.026186451843355028
],
"position_mm": [
-26.92349351398255,
192.04202689794926,
-26.186451843355027
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18617189933554046,
-0.276129199263809,
-0.029686130247326085
],
"position_mm": [
186.17189933554045,
-276.129199263809,
-29.686130247326084
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37097626902001196,
-0.18798036529463916,
-0.0250139470463718
],
"position_mm": [
370.97626902001196,
-187.98036529463917,
-25.0139470463718
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10559727807703266,
-0.18981502215816604,
-0.028026461410815606
],
"position_mm": [
105.59727807703266,
-189.81502215816604,
-28.026461410815607
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3115882650496422,
-0.15563078372138794,
0.15663619654616454
],
"position_mm": [
311.5882650496422,
-155.63078372138796,
156.63619654616454
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021636348526758453,
-0.01919993864964246,
0.0005659834902662942
],
"position_mm": [
21.636348526758454,
-19.199938649642462,
0.5659834902662942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2536098556730264,
-0.009915933869616303,
0.0006227845538387605
],
"position_mm": [
253.6098556730264,
-9.915933869616303,
0.6227845538387605
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.23082950112723635,
-0.03884518953580116,
0.3076383019450992
],
"position_mm": [
230.82950112723634,
-38.84518953580116,
307.6383019450992
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.3206281948834059,
-0.04687063045469324,
0.2989468843166457
],
"position_mm": [
320.62819488340585,
-46.870630454693234,
298.94688431664565
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2835693260820873,
-0.043242225693266,
0.30338907016444805
],
"position_mm": [
283.5693260820873,
-43.242225693266,
303.38907016444807
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}

2595
data/camera_study/Scene10/k3_bcf/render_b_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

635
data/camera_study/Scene10/k3_bcf/render_b_camera_pose.json Normal file
View File

@@ -0,0 +1,635 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:18:21Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "b",
"camera_matrix": [
[
1994.0294189453125,
0.0,
719.934814453125
],
[
0.0,
1991.6876220703125,
539.2061157226562
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 31,
"used_marker_ids": [
48,
85,
54,
69,
71,
47,
59,
95,
55,
63,
102,
103,
64,
92,
96,
51,
62,
205,
215,
210,
211,
206,
207,
75,
100,
76,
94,
72,
53,
50,
91
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.014303715741588072,
0.0016309340220155746,
0.0012386957275541213,
0.0012386850271530372
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 3.5021109163429425,
"residual_median_px": 3.184544956535646,
"residual_max_px": 6.067533639138036,
"sigma2_normalized": 1.6987342317165036e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9999269843101501,
-0.011898769997060299,
-0.002109621185809374
],
[
-0.010610892437398434,
-0.7809832096099854,
-0.6244618892669678
],
[
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
],
"translation_m": [
-0.31130585074424744,
0.05408250167965889,
1.4956468343734741
],
"rvec_rad": [
2.467098140683542,
-0.015590715342859898,
0.002544094168982025
]
},
"camera_in_world": {
"position_m": [
0.30320802330970764,
-0.8954063653945923,
1.2012943029403687
],
"position_mm": [
303.2080383300781,
-895.4063720703125,
1201.2943115234375
],
"orientation_deg": {
"roll": 141.3582305908203,
"pitch": -0.33132898807525635,
"yaw": -0.6079809069633484
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
1.1714980332113037e-05,
1.612849096603274e-07,
3.3581655194842685e-06,
2.9594448332849086e-07,
-6.152421164406947e-07,
4.1599332363325e-07
],
[
1.6128490966032213e-07,
1.9643383110369143e-06,
-6.707254416001559e-07,
1.4302435629986665e-07,
-5.459321264980795e-07,
5.271779814055738e-07
],
[
3.3581655194842566e-06,
-6.70725441600183e-07,
2.041861850548542e-05,
2.998052506270438e-07,
-2.410609247586222e-06,
-7.912525866840433e-06
],
[
2.9594448332849166e-07,
1.430243562998651e-07,
2.9980525062704897e-07,
1.5677275797219876e-07,
-6.001927256130577e-08,
1.713792123751456e-07
],
[
-6.15242116440693e-07,
-5.459321264980771e-07,
-2.4106092475862307e-06,
-6.00192725613057e-08,
6.366335588393726e-07,
1.1255616142030518e-06
],
[
4.15993323633253e-07,
5.271779814055734e-07,
-7.912525866840427e-06,
1.7137921237514697e-07,
1.1255616142030518e-06,
5.894338230720332e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.1961071437365895,
0.08030281614640503,
0.25890224118047883
],
"tvec_std_m": [
0.00039594539771564306,
0.0007978932001460927,
0.002427825823802097
]
},
"camera_center_std_m": [
0.0050998544532508275,
0.003662987958878001,
0.003375018538044121
],
"camera_center_std_mm": [
5.099854453250828,
3.6629879588780008,
3.375018538044121
],
"orientation_std_deg": {
"roll": 0.15667947440575844,
"pitch": 0.19000314251532338,
"yaw": 0.082955108711716
}
}
},
"observations": {
"markers": [
{
"marker_id": 48,
"observed_center_px": [
1293.25,
1011.0
],
"projected_center_px": [
1296.998779296875,
1014.4274291992188
],
"reprojection_error_px": 5.079430788221836,
"confidence": 0.6769166271324829
},
{
"marker_id": 85,
"observed_center_px": [
1019.75,
1007.75
],
"projected_center_px": [
1016.9595336914062,
1006.0613403320312
],
"reprojection_error_px": 3.261636658737628,
"confidence": 0.6859576703883983
},
{
"marker_id": 54,
"observed_center_px": [
768.75,
1029.75
],
"projected_center_px": [
773.0665893554688,
1034.0140380859375
],
"reprojection_error_px": 6.067533639138036,
"confidence": 0.4650192592592593
},
{
"marker_id": 69,
"observed_center_px": [
270.25,
967.0
],
"projected_center_px": [
272.7215576171875,
971.5800170898438
],
"reprojection_error_px": 5.204339881131743,
"confidence": 0.6810790771484375
},
{
"marker_id": 71,
"observed_center_px": [
1379.25,
964.75
],
"projected_center_px": [
1377.3250732421875,
962.7305297851562
],
"reprojection_error_px": 2.7899109253851826,
"confidence": 0.5211106905954719
},
{
"marker_id": 47,
"observed_center_px": [
773.0,
975.5
],
"projected_center_px": [
774.099853515625,
972.5114135742188
],
"reprojection_error_px": 3.184544956535646,
"confidence": 0.6409999109903972
},
{
"marker_id": 59,
"observed_center_px": [
1193.0,
954.5
],
"projected_center_px": [
1192.0887451171875,
957.3847045898438
],
"reprojection_error_px": 3.0252117334354005,
"confidence": 0.6412858253535606
},
{
"marker_id": 95,
"observed_center_px": [
539.5,
962.75
],
"projected_center_px": [
539.1934204101562,
958.4058227539062
],
"reprojection_error_px": 4.354981858789706,
"confidence": 0.6090065437382148
},
{
"marker_id": 55,
"observed_center_px": [
684.75,
939.25
],
"projected_center_px": [
683.953125,
941.1909790039062
],
"reprojection_error_px": 2.098191902384026,
"confidence": 0.6008976526738182
},
{
"marker_id": 63,
"observed_center_px": [
1398.0,
899.5
],
"projected_center_px": [
1402.3104248046875,
898.68310546875
],
"reprojection_error_px": 4.38714926484744,
"confidence": 0.2507367639652114
},
{
"marker_id": 102,
"observed_center_px": [
1214.75,
884.75
],
"projected_center_px": [
1213.0572509765625,
883.4988403320312
],
"reprojection_error_px": 2.1049465007691484,
"confidence": 0.5657302556798534
},
{
"marker_id": 103,
"observed_center_px": [
428.0,
852.0
],
"projected_center_px": [
430.1767883300781,
847.548828125
],
"reprojection_error_px": 4.954930725525366,
"confidence": 0.560616051364006
},
{
"marker_id": 64,
"observed_center_px": [
250.75,
851.75
],
"projected_center_px": [
248.56314086914062,
850.4844360351562
],
"reprojection_error_px": 2.5266588624770963,
"confidence": 0.5340019648682838
},
{
"marker_id": 92,
"observed_center_px": [
1200.0,
838.25
],
"projected_center_px": [
1197.421142578125,
835.3626708984375
],
"reprojection_error_px": 3.8713272844193223,
"confidence": 0.5416034617553136
},
{
"marker_id": 96,
"observed_center_px": [
808.0,
838.75
],
"projected_center_px": [
806.2885131835938,
841.5922241210938
],
"reprojection_error_px": 3.3177439740371075,
"confidence": 0.5172315019532747
},
{
"marker_id": 51,
"observed_center_px": [
519.5,
829.25
],
"projected_center_px": [
519.8951416015625,
827.0758056640625
],
"reprojection_error_px": 2.2098094704539766,
"confidence": 0.5336775191033459
},
{
"marker_id": 62,
"observed_center_px": [
850.25,
824.75
],
"projected_center_px": [
855.0701293945312,
826.93115234375
],
"reprojection_error_px": 5.290659025742475,
"confidence": 0.49066144587566046
},
{
"marker_id": 205,
"observed_center_px": [
1332.0,
700.0
],
"projected_center_px": [
1328.4681396484375,
699.86669921875
],
"reprojection_error_px": 3.5343750000843213,
"confidence": 0.48645690874990066
},
{
"marker_id": 215,
"observed_center_px": [
637.25,
706.0
],
"projected_center_px": [
636.5221557617188,
707.2503662109375
],
"reprojection_error_px": 1.446780182561751,
"confidence": 0.4795631502013408
},
{
"marker_id": 210,
"observed_center_px": [
330.75,
632.75
],
"projected_center_px": [
328.2628479003906,
632.3521728515625
],
"reprojection_error_px": 2.518767954104791,
"confidence": 0.38486810600050964
},
{
"marker_id": 211,
"observed_center_px": [
642.25,
617.75
],
"projected_center_px": [
638.0531005859375,
618.1140747070312
],
"reprojection_error_px": 4.2126612828541115,
"confidence": 0.3867595368202286
},
{
"marker_id": 206,
"observed_center_px": [
1173.0,
612.75
],
"projected_center_px": [
1172.872314453125,
612.3995971679688
],
"reprojection_error_px": 0.37294201101014113,
"confidence": 0.43456133400387903
},
{
"marker_id": 207,
"observed_center_px": [
1310.75,
612.5
],
"projected_center_px": [
1306.716552734375,
611.0010986328125
],
"reprojection_error_px": 4.302952724947643,
"confidence": 0.4331870083749633
},
{
"marker_id": 75,
"observed_center_px": [
304.25,
442.5
],
"projected_center_px": [
306.6486511230469,
441.182861328125
],
"reprojection_error_px": 2.7364907255539297,
"confidence": 0.269105230137358
},
{
"marker_id": 100,
"observed_center_px": [
1320.25,
453.0
],
"projected_center_px": [
1320.570068359375,
451.0298767089844
],
"reprojection_error_px": 1.9959532901536652,
"confidence": 0.3034911052213101
},
{
"marker_id": 76,
"observed_center_px": [
1177.5,
455.5
],
"projected_center_px": [
1176.77978515625,
457.7312316894531
],
"reprojection_error_px": 2.344590427596616,
"confidence": 0.29698484802246095
},
{
"marker_id": 94,
"observed_center_px": [
1405.5,
447.5
],
"projected_center_px": [
1409.20654296875,
448.8764343261719
],
"reprojection_error_px": 3.953862950767804,
"confidence": 0.1100752638244629
},
{
"marker_id": 72,
"observed_center_px": [
875.75,
436.25
],
"projected_center_px": [
874.7793579101562,
435.638671875
],
"reprojection_error_px": 1.1471129599966423,
"confidence": 0.27188424328625205
},
{
"marker_id": 53,
"observed_center_px": [
930.75,
416.25
],
"projected_center_px": [
928.0985107421875,
418.8909912109375
],
"reprojection_error_px": 3.7423561910304857,
"confidence": 0.27188424328625205
},
{
"marker_id": 50,
"observed_center_px": [
1030.5,
418.25
],
"projected_center_px": [
1033.346435546875,
418.1204833984375
],
"reprojection_error_px": 2.849380612096931,
"confidence": 0.2795619311083096
},
{
"marker_id": 91,
"observed_center_px": [
1190.5,
316.25
],
"projected_center_px": [
1192.083984375,
316.4956359863281
],
"reprojection_error_px": 1.6029171962467468,
"confidence": 0.22419458414613705
}
]
},
"qa": {
"sanity_notes": []
}
}

1590
data/camera_study/Scene10/k3_bcf/render_c_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

327
data/camera_study/Scene10/k3_bcf/render_c_camera_pose.json Normal file
View File

@@ -0,0 +1,327 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:18:22Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "c",
"camera_matrix": [
[
1994.701171875,
0.0,
720.15869140625
],
[
0.0,
1995.5245361328125,
541.232177734375
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 9,
"used_marker_ids": [
58,
62,
96,
64,
103,
51,
210,
211,
50
],
"history": {
"iters": [
0,
1,
2,
3
],
"rms": [
0.00850343514866048,
0.001919637477748798,
0.0018871327733089188,
0.0018871325208839012
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125
]
},
"residual_rms_px": 5.3388483305404,
"residual_median_px": 5.837108638574855,
"residual_max_px": 7.851369272055891,
"sigma2_normalized": 5.341903727059073e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.9935113787651062,
0.11363770067691803,
-0.004644200671464205
],
[
0.029086070135235786,
-0.2933460772037506,
-0.9555637240409851
],
[
-0.10995042324066162,
0.9492284059524536,
-0.2947479486465454
]
],
"translation_m": [
-0.19824764132499695,
0.1074121966958046,
1.0073933601379395
],
"rvec_rad": [
1.86796171410195,
0.10327005514572164,
-0.08291676493169096
]
},
"camera_in_world": {
"position_m": [
0.30460041761398315,
-0.9022090435028076,
0.3986456096172333
],
"position_mm": [
304.60040283203125,
-902.2090454101562,
398.6455993652344
],
"orientation_deg": {
"roll": 107.25025177001953,
"pitch": 6.31245756149292,
"yaw": 1.676913857460022
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
6.283611814350516e-05,
9.967111903139419e-06,
1.624804290129494e-05,
-1.577288611905233e-07,
-9.565179969225538e-06,
1.214388304696983e-06
],
[
9.967111903139312e-06,
2.0431750224389534e-05,
-7.770857724352742e-06,
2.1849187906882535e-06,
-2.4827730156902525e-06,
5.834590888095247e-06
],
[
1.6248042901295073e-05,
-7.770857724352725e-06,
6.21251942958819e-05,
-3.1440970658187606e-06,
-8.329233497858997e-06,
-1.5661804579884994e-05
],
[
-1.5772886119053934e-07,
2.184918790688258e-06,
-3.14409706581878e-06,
7.844339725202242e-07,
9.395641917069299e-08,
8.922273151494254e-07
],
[
-9.56517996922555e-06,
-2.482773015690273e-06,
-8.329233497858978e-06,
9.395641917068812e-08,
3.1785216658280216e-06,
3.2374032099410526e-06
],
[
1.2143883046968984e-06,
5.834590888095236e-06,
-1.566180457988501e-05,
8.922273151494167e-07,
3.237403209941067e-06,
1.5241091941001921e-05
]
],
"parameter_std": {
"rvec_std_deg": [
0.45417926818777943,
0.2589854810186854,
0.45160268193428
],
"tvec_std_m": [
0.0008856827719450255,
0.0017828408975082497,
0.0039039841112640202
]
},
"camera_center_std_m": [
0.006432764403295309,
0.003956846704431741,
0.006949550969225763
],
"camera_center_std_mm": [
6.432764403295309,
3.956846704431741,
6.949550969225763
],
"orientation_std_deg": {
"roll": 0.42334339423542505,
"pitch": 0.36500393244331925,
"yaw": 0.2715300326454473
}
}
},
"observations": {
"markers": [
{
"marker_id": 58,
"observed_center_px": [
283.25,
1034.0
],
"projected_center_px": [
289.1312255859375,
1036.682861328125
],
"reprojection_error_px": 6.4642524160675014,
"confidence": 0.34134185624863755
},
{
"marker_id": 62,
"observed_center_px": [
1171.5,
1028.5
],
"projected_center_px": [
1177.343505859375,
1029.8663330078125
],
"reprojection_error_px": 6.0011187804265225,
"confidence": 0.3586255184214969
},
{
"marker_id": 96,
"observed_center_px": [
1097.5,
1038.75
],
"projected_center_px": [
1091.03857421875,
1039.8277587890625
],
"reprojection_error_px": 6.550693637623701,
"confidence": 0.24678869996591526
},
{
"marker_id": 64,
"observed_center_px": [
149.25,
990.0
],
"projected_center_px": [
146.69277954101562,
989.6632080078125
],
"reprojection_error_px": 2.579303262869623,
"confidence": 0.6384599833726886
},
{
"marker_id": 103,
"observed_center_px": [
439.25,
1009.25
],
"projected_center_px": [
443.3174743652344,
1005.0634155273438
],
"reprojection_error_px": 5.837108638574855,
"confidence": 0.5316388676723932
},
{
"marker_id": 51,
"observed_center_px": [
598.5,
996.25
],
"projected_center_px": [
598.08349609375,
993.7927856445312
],
"reprojection_error_px": 2.492263608176955,
"confidence": 0.5232849066860699
},
{
"marker_id": 210,
"observed_center_px": [
357.5,
769.75
],
"projected_center_px": [
354.4071044921875,
771.2721557617188
],
"reprojection_error_px": 3.4471670666186647,
"confidence": 0.27039765782644665
},
{
"marker_id": 211,
"observed_center_px": [
828.75,
782.25
],
"projected_center_px": [
820.9069213867188,
782.6107177734375
],
"reprojection_error_px": 7.851369272055891,
"confidence": 0.25970043306972035
},
{
"marker_id": 50,
"observed_center_px": [
1402.0,
693.75
],
"projected_center_px": [
1405.9166259765625,
693.873291015625
],
"reprojection_error_px": 3.918566027875248,
"confidence": 0.03320002493960217
}
]
},
"qa": {
"sanity_notes": []
}
}

2058
data/camera_study/Scene10/k3_bcf/render_f_aruco_detection.json Normal file
View File

File diff suppressed because it is too large Load Diff

582
data/camera_study/Scene10/k3_bcf/render_f_camera_pose.json Normal file
View File

@@ -0,0 +1,582 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:18:22Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
},
"camera": {
"camera_id": "f",
"camera_matrix": [
[
2003.446044921875,
0.0,
722.6578979492188
],
[
0.0,
1992.1611328125,
539.48974609375
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 27,
"used_marker_ids": [
68,
46,
208,
47,
56,
53,
97,
62,
54,
55,
72,
66,
214,
95,
51,
103,
69,
58,
82,
73,
210,
52,
64,
77,
83,
75,
61
],
"history": {
"iters": [
0,
1,
2,
3,
4
],
"rms": [
0.00918677717341902,
0.0014933429518723808,
0.001390373853667637,
0.0013903699834861628,
0.0013903699807887252
],
"lambda": [
0.001,
0.0005,
0.00025,
0.000125,
6.25e-05
]
},
"residual_rms_px": 3.941603533751138,
"residual_median_px": 3.7352373317630128,
"residual_max_px": 5.771900878439298,
"sigma2_normalized": 2.17476976890378e-06
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.31769248843193054,
0.9481521248817444,
0.008892479352653027
],
[
0.9206541180610657,
-0.30620789527893066,
-0.242141991853714
],
[
-0.2268645018339157,
0.08511359244585037,
-0.9702000617980957
]
],
"translation_m": [
0.12344730645418167,
-0.19988536834716797,
1.4972078800201416
],
"rvec_rad": [
2.378352663832453,
1.7133801592888853,
-0.1998435821316908
]
},
"camera_in_world": {
"position_m": [
0.48447033762931824,
-0.3056860566139221,
1.4030927419662476
],
"position_mm": [
484.4703369140625,
-305.6860656738281,
1403.0927734375
],
"orientation_deg": {
"roll": 174.98638916015625,
"pitch": 13.112541198730469,
"yaw": 70.96184539794922
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
3.2311819447272024e-05,
1.8832577487974546e-05,
-4.656767371183097e-06,
-4.18150026429738e-07,
2.6114865287331025e-07,
2.406181848846857e-06
],
[
1.8832577487974533e-05,
1.683541014579236e-05,
-7.3574856590594524e-06,
4.5948447714477966e-07,
3.095065254407523e-08,
2.3847847067019377e-06
],
[
-4.6567673711861375e-06,
-7.357485659062205e-06,
0.00016783973036034415,
1.5647826411604766e-06,
-1.729586622472892e-06,
-2.906231789157714e-05
],
[
-4.1815002642977447e-07,
4.594844771447391e-07,
1.5647826411606013e-06,
3.507815548304795e-07,
-2.7134564617847737e-08,
2.4204791300702807e-07
],
[
2.611486528733672e-07,
3.0950652544076366e-08,
-1.729586622472832e-06,
-2.7134564617850665e-08,
1.9997327434023874e-07,
4.1386012647726157e-07
],
[
2.4061818488473495e-06,
2.384784706702394e-06,
-2.9062317891576876e-05,
2.420479130070509e-07,
4.138601264772586e-07,
9.270646369219581e-06
]
],
"parameter_std": {
"rvec_std_deg": [
0.3256891862833913,
0.23509017702077495,
0.7422838625560957
],
"tvec_std_m": [
0.0005922681443657758,
0.00044718371430569644,
0.003044773615430149
]
},
"camera_center_std_m": [
0.011255169411300251,
0.011919325044430497,
0.004596769734438054
],
"camera_center_std_mm": [
11.255169411300251,
11.919325044430497,
4.5967697344380545
],
"orientation_std_deg": {
"roll": 0.5094522091773732,
"pitch": 0.4352540861263008,
"yaw": 0.1004884180203833
}
}
},
"observations": {
"markers": [
{
"marker_id": 68,
"observed_center_px": [
1395.0,
941.75
],
"projected_center_px": [
1389.3548583984375,
940.5469970703125
],
"reprojection_error_px": 5.771900878439298,
"confidence": 0.3105318897567382
},
{
"marker_id": 46,
"observed_center_px": [
1383.25,
882.5
],
"projected_center_px": [
1387.9061279296875,
883.3380737304688
],
"reprojection_error_px": 4.7309507369362676,
"confidence": 0.480064078578645
},
{
"marker_id": 208,
"observed_center_px": [
937.0,
754.25
],
"projected_center_px": [
934.9244995117188,
751.2972412109375
],
"reprojection_error_px": 3.6092224568792584,
"confidence": 0.717438637944123
},
{
"marker_id": 47,
"observed_center_px": [
665.0,
836.25
],
"projected_center_px": [
667.4868774414062,
835.926025390625
],
"reprojection_error_px": 2.507891336580391,
"confidence": 0.714264135428559
},
{
"marker_id": 56,
"observed_center_px": [
1341.75,
844.0
],
"projected_center_px": [
1344.8751220703125,
839.613037109375
],
"reprojection_error_px": 5.386263209134431,
"confidence": 0.6720101269988878
},
{
"marker_id": 53,
"observed_center_px": [
1399.75,
806.0
],
"projected_center_px": [
1394.572998046875,
803.723388671875
],
"reprojection_error_px": 5.655467121468141,
"confidence": 0.25536384825957736
},
{
"marker_id": 97,
"observed_center_px": [
554.75,
818.0
],
"projected_center_px": [
552.1571044921875,
815.3113403320312
],
"reprojection_error_px": 3.7352373317630128,
"confidence": 0.7144285455619288
},
{
"marker_id": 62,
"observed_center_px": [
845.25,
862.5
],
"projected_center_px": [
843.9764404296875,
867.170166015625
],
"reprojection_error_px": 4.840702902743903,
"confidence": 0.7019920279258633
},
{
"marker_id": 54,
"observed_center_px": [
610.5,
848.75
],
"projected_center_px": [
607.426025390625,
853.0718994140625
],
"reprojection_error_px": 5.30359636891383,
"confidence": 0.7005026944924987
},
{
"marker_id": 55,
"observed_center_px": [
675.25,
746.0
],
"projected_center_px": [
672.9774169921875,
745.18359375
],
"reprojection_error_px": 2.4147779799470532,
"confidence": 0.6761108765479277
},
{
"marker_id": 72,
"observed_center_px": [
1346.5,
753.25
],
"projected_center_px": [
1346.513671875,
751.8689575195312
],
"reprojection_error_px": 1.381110152386584,
"confidence": 0.63555573802114
},
{
"marker_id": 66,
"observed_center_px": [
508.25,
692.75
],
"projected_center_px": [
508.324951171875,
692.6304321289062
],
"reprojection_error_px": 0.14111751827228045,
"confidence": 0.6485230397697823
},
{
"marker_id": 214,
"observed_center_px": [
1037.75,
714.25
],
"projected_center_px": [
1041.2877197265625,
715.8521118164062
],
"reprojection_error_px": 3.8835838005607632,
"confidence": 0.62142490645665
},
{
"marker_id": 95,
"observed_center_px": [
612.75,
626.25
],
"projected_center_px": [
616.0951538085938,
624.1017456054688
],
"reprojection_error_px": 3.975556683883667,
"confidence": 0.6415498386959416
},
{
"marker_id": 51,
"observed_center_px": [
739.25,
559.25
],
"projected_center_px": [
740.84765625,
558.3189086914062
],
"reprojection_error_px": 1.8491718465580436,
"confidence": 0.6088879208521975
},
{
"marker_id": 103,
"observed_center_px": [
690.0,
487.75
],
"projected_center_px": [
694.0453491210938,
487.8307800292969
],
"reprojection_error_px": 4.046155573463183,
"confidence": 0.5954680843098741
},
{
"marker_id": 69,
"observed_center_px": [
538.5,
403.0
],
"projected_center_px": [
534.0264892578125,
406.2565612792969
],
"reprojection_error_px": 5.5333073045225545,
"confidence": 0.5651459847123547
},
{
"marker_id": 58,
"observed_center_px": [
633.0,
428.5
],
"projected_center_px": [
631.8712768554688,
432.2906494140625
],
"reprojection_error_px": 3.9551281796337383,
"confidence": 0.5885499509109636
},
{
"marker_id": 82,
"observed_center_px": [
1356.5,
429.5
],
"projected_center_px": [
1358.176025390625,
429.6244201660156
],
"reprojection_error_px": 1.6806372266884486,
"confidence": 0.6113473409254715
},
{
"marker_id": 73,
"observed_center_px": [
1401.5,
418.5
],
"projected_center_px": [
1403.8709716796875,
418.31756591796875
],
"reprojection_error_px": 2.377980004156206,
"confidence": 0.22008504273316973
},
{
"marker_id": 210,
"observed_center_px": [
872.0,
307.0
],
"projected_center_px": [
871.6832885742188,
304.965087890625
],
"reprojection_error_px": 2.0594109400751965,
"confidence": 0.60279428383853
},
{
"marker_id": 52,
"observed_center_px": [
1190.25,
312.5
],
"projected_center_px": [
1186.0579833984375,
316.39373779296875
],
"reprojection_error_px": 5.7213807064526625,
"confidence": 0.5743827506632194
},
{
"marker_id": 64,
"observed_center_px": [
640.5,
338.0
],
"projected_center_px": [
640.4821166992188,
334.9952087402344
],
"reprojection_error_px": 3.0048444763765603,
"confidence": 0.5397522426826521
},
{
"marker_id": 77,
"observed_center_px": [
1125.5,
230.0
],
"projected_center_px": [
1128.3472900390625,
234.04983520507812
],
"reprojection_error_px": 4.950578325290361,
"confidence": 0.5278189208292927
},
{
"marker_id": 83,
"observed_center_px": [
1323.25,
208.5
],
"projected_center_px": [
1319.932373046875,
207.5139923095703
],
"reprojection_error_px": 3.461048940088533,
"confidence": 0.5445844663450473
},
{
"marker_id": 75,
"observed_center_px": [
1108.0,
182.0
],
"projected_center_px": [
1111.3167724609375,
182.71337890625
],
"reprojection_error_px": 3.392622734922916,
"confidence": 0.5380549070504695
},
{
"marker_id": 61,
"observed_center_px": [
1280.0,
135.0
],
"projected_center_px": [
1282.8663330078125,
133.39898681640625
],
"reprojection_error_px": 3.283155208898362,
"confidence": 0.5493902887184056
}
]
},
"qa": {
"sanity_notes": []
}
}

74
data/camera_study/Scene10/k3_bcf/robot_state.eval.json Normal file
View File

@@ -0,0 +1,74 @@
{
"rows": [
{
"joint": "x",
"estimate": 120.38686657326853,
"gt": 120.0,
"error": 0.38686657326853435,
"unit": "mm",
"observable": true,
"n_markers": 1
},
{
"joint": "y",
"estimate": 59.74079147271642,
"gt": 60.0,
"error": 0.25920852728359023,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "z",
"estimate": -109.88832943232683,
"gt": -110.0,
"error": 0.11167056767317263,
"unit": "deg",
"observable": true,
"n_markers": 2
},
{
"joint": "a",
"estimate": 20.49075144528145,
"gt": 20.0,
"error": 0.490751445281461,
"unit": "deg",
"observable": true,
"n_markers": 1
},
{
"joint": "b",
"estimate": 0.0,
"gt": 30.0,
"error": 30.0,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "c",
"estimate": 0.0,
"gt": 180.0,
"error": 180.0,
"unit": "deg",
"observable": false,
"n_markers": 0
},
{
"joint": "e",
"estimate": 0.0,
"gt": 4.0,
"error": 4.0,
"unit": "mm",
"observable": false,
"n_markers": 0
}
],
"summary": {
"n_joints": 7,
"mean_abs_deg": 0.28721018007940796,
"max_abs_deg": 0.490751445281461,
"mean_abs_mm": 0.38686657326853435,
"max_abs_mm": 0.38686657326853435
}
}

58
data/camera_study/Scene10/k3_bcf/robot_state.json Normal file
View File

@@ -0,0 +1,58 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-02T21:18:25Z",
"method": "hybrid",
"movements": {
"x": {
"value": 120.38686657326853,
"unit": "mm",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"y": {
"value": 59.74079147271642,
"unit": "deg",
"observable": true,
"confidence": "low",
"n_markers": 1
},
"z": {
"value": -109.88832943232683,
"unit": "deg",
"observable": true,
"confidence": "high",
"n_markers": 2
},
"a": {
"value": 20.49075144528145,
"unit": "deg",
"observable": true,
"confidence": "medium",
"n_markers": 1
},
"b": {
"value": 0.0,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"c": {
"value": 0.0,
"unit": "deg",
"observable": false,
"confidence": "none",
"n_markers": 0
},
"e": {
"value": 0.0,
"unit": "mm",
"observable": false,
"confidence": "none",
"n_markers": 0
}
},
"residual_rms": 2.554417606163099,
"num_markers": 21
}