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

nix

Browse Source
This commit is contained in:
chk
2026-06-01 22:09:49 +02:00
parent 7b32a50889
commit e5b41e9110
49 changed files with 16727 additions and 10772 deletions
Download Patch File Download Diff File Expand all files Collapse all files

318
data/evaluations/Scene9/render_e_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T17:39:28Z",
"created_utc": "2026-06-01T19:31:56Z",
"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"
@@ -15,7 +15,7 @@
],
[
0.0,
1500.0,
1777.77783203125,
360.0
],
[
@@ -71,10 +71,10 @@
3
],
"rms": [
0.007095341925032369,
0.0013349437109003125,
0.0012927816364674517,
0.0012927812569370745
0.006796723717485969,
0.0003745323491999978,
0.00020061727806743257,
0.00020061571886173784
],
"lambda": [
0.001,
@@ -83,135 +83,135 @@
0.000125
]
},
"residual_rms_px": 2.7749011523490723,
"residual_median_px": 2.078164275946058,
"residual_max_px": 5.196564935359262,
"sigma2_normalized": 1.910038146612797e-06
"residual_rms_px": 0.5043766212268677,
"residual_median_px": 0.38292305323126236,
"residual_max_px": 0.9814498981919079,
"sigma2_normalized": 4.599619046205227e-08
},
"camera_pose": {
"world_to_camera": {
"rotation_matrix": [
[
0.6307641863822937,
0.7759707570075989,
-0.002437180606648326
0.6289841532707214,
0.7774180173873901,
0.000434672023402527
],
[
0.24203786253929138,
-0.19972774386405945,
-0.9494875073432922
0.20659156143665314,
-0.1666075885295868,
-0.964137852191925
],
[
-0.7372612953186035,
0.5983127951622009,
-0.31379541754722595
-0.7494657039642334,
0.6065172553062439,
-0.26540154218673706
]
],
"translation_m": [
-0.055692028254270554,
-0.010053127072751522,
1.5426626205444336
-0.05472467094659805,
-0.01264093816280365,
1.5504847764968872
],
"rvec_rad": [
1.7490034211859098,
0.8303460658691646,
-0.6033404001661316
1.7012126314536538,
0.8122343178123766,
-0.6182752069492911
]
},
"camera_in_world": {
"position_m": [
1.1749072074890137,
-0.8817873001098633,
0.4743994176387787
1.1990675926208496,
-0.8999578952789307,
0.3993372321128845
],
"position_mm": [
1174.9072265625,
-881.7872924804688,
474.3994140625
1199.067626953125,
-899.9578857421875,
399.33721923828125
],
"orientation_deg": {
"roll": 117.67552947998047,
"pitch": 47.49863815307617,
"yaw": 20.992887496948242
"roll": 113.63335418701172,
"pitch": 48.54411697387695,
"yaw": 18.182907104492188
}
},
"uncertainty": {
"pose_covariance_6x6": [
[
5.663846922649341e-06,
1.2187131020285088e-06,
1.418825051755898e-06,
-1.6252114155662747e-07,
-1.6271670193759301e-06,
6.978917567451072e-07
1.2717291187350867e-07,
2.427780874896666e-08,
3.113845474419147e-08,
-4.673332748193887e-09,
-3.7892380318380985e-08,
1.3467874516895867e-08
],
[
1.2187131020285183e-06,
4.122558930254296e-06,
1.5390128559489638e-07,
1.0002999823743167e-06,
-1.1337782962224744e-06,
8.312992703514572e-07
2.427780874896655e-08,
9.995384156486317e-08,
1.3154364623191546e-09,
2.4667623412376172e-08,
-2.6975506369930083e-08,
1.955433544702994e-08
],
[
1.418825051755848e-06,
1.5390128559490705e-07,
7.880821288709876e-06,
-1.2441730290158325e-06,
-1.3484606758105873e-06,
-9.509612049445034e-07
3.113845474419129e-08,
1.3154364623194096e-09,
1.7087904832897105e-07,
-2.9090501327472707e-08,
-2.9863326832524456e-08,
-2.129084618225427e-08
],
[
-1.6252114155663952e-07,
1.0002999823743398e-06,
-1.244173029015829e-06,
6.006266124768371e-07,
2.2984016135938396e-08,
6.438843290101196e-07
-4.6733327481943426e-09,
2.4667623412376583e-08,
-2.9090501327472498e-08,
1.4759067910272768e-08,
3.9028947201990606e-10,
1.570716584717209e-08
],
[
-1.6271670193759244e-06,
-1.1337782962224748e-06,
-1.3484606758105964e-06,
2.2984016135940418e-08,
9.18643775595386e-07,
2.5772987300597183e-07
-3.7892380318380886e-08,
-2.697550636993014e-08,
-2.986332683252442e-08,
3.9028947201990363e-10,
2.1908453591880034e-08,
5.181289716536058e-09
],
[
6.978917567451163e-07,
8.312992703514586e-07,
-9.509612049445044e-07,
6.438843290101158e-07,
2.577298730059702e-07,
4.274426720275254e-06
1.3467874516896066e-08,
1.9554335447029862e-08,
-2.1290846182254186e-08,
1.570716584717197e-08,
5.1812897165360286e-09,
1.0525946040964363e-07
]
],
"parameter_std": {
"rvec_std_deg": [
0.1363572977261127,
0.11633384131256229,
0.16084529887405638
0.020432426254555238,
0.018114334263151947,
0.02368465378548544
],
"tvec_std_m": [
0.0007750010403069387,
0.0009584590630774931,
0.0020674686745571877
0.00012148690427479321,
0.0001480150451537952,
0.00032443714400426414
]
},
"camera_center_std_m": [
0.00252614437881669,
0.002300959332032644,
0.0030076833004178947
0.00040257277463770567,
0.00032790796768880057,
0.0004672187375506214
],
"camera_center_std_mm": [
2.52614437881669,
2.300959332032644,
3.0076833004178947
0.4025727746377057,
0.3279079676888006,
0.46721873755062143
],
"orientation_std_deg": {
"roll": 0.18862165343992418,
"pitch": 0.14056395002412728,
"yaw": 0.17916027863716213
"roll": 0.033455540104771676,
"pitch": 0.020110839548817684,
"yaw": 0.02746420892650435
}
}
},
@@ -224,10 +224,10 @@
688.5
],
"projected_center_px": [
1022.8868408203125,
684.736328125
1023.0628662109375,
688.424072265625
],
"reprojection_error_px": 3.7653726220141297,
"reprojection_error_px": 0.09857576438942181,
"confidence": 0.15369374989294518
},
{
@@ -237,10 +237,10 @@
600.5
],
"projected_center_px": [
1140.9591064453125,
605.114501953125
1140.811279296875,
600.3157348632812
],
"reprojection_error_px": 4.623661680481518,
"reprojection_error_px": 0.47584608431768566,
"confidence": 0.3233651345714012
},
{
@@ -250,10 +250,10 @@
654.75
],
"projected_center_px": [
761.7445068359375,
652.6561889648438
761.2347412109375,
655.086669921875
],
"reprojection_error_px": 2.4357425799203933,
"reprojection_error_px": 0.8082025014470213,
"confidence": 0.420622587927407
},
{
@@ -263,24 +263,24 @@
665.5
],
"projected_center_px": [
675.7681884765625,
663.0847778320312
675.01904296875,
665.3643188476562
],
"reprojection_error_px": 2.5344450390906257,
"reprojection_error_px": 0.13701098408573442,
"confidence": 0.3128949822399185
},
{
"marker_id": 206,
"observed_center_px": [
1223.5,
1222.5,
566.75
],
"projected_center_px": [
1222.654541015625,
571.3515625
1222.410888671875,
566.8724975585938
],
"reprojection_error_px": 4.678587215780706,
"confidence": 0.11623157468788738
"reprojection_error_px": 0.1514809580826271,
"confidence": 0.15136171428561934
},
{
"marker_id": 97,
@@ -289,10 +289,10 @@
578.0
],
"projected_center_px": [
411.7170715332031,
577.7417602539062
411.4060974121094,
578.2946166992188
],
"reprojection_error_px": 0.7621544136150133,
"reprojection_error_px": 0.5017111794453887,
"confidence": 0.22596816505744277
},
{
@@ -302,10 +302,10 @@
569.25
],
"projected_center_px": [
543.9366455078125,
568.3673095703125
543.713623046875,
569.260986328125
],
"reprojection_error_px": 0.902207814335749,
"reprojection_error_px": 0.037999764793069615,
"confidence": 0.24626971873720385
},
{
@@ -315,10 +315,10 @@
544.25
],
"projected_center_px": [
690.1197509765625,
543.3026123046875
690.0404663085938,
544.4671020507812
],
"reprojection_error_px": 0.9562992488420937,
"reprojection_error_px": 0.30172449069930346,
"confidence": 0.2205630261207473
},
{
@@ -328,10 +328,10 @@
467.5
],
"projected_center_px": [
777.5751953125,
472.5607604980469
777.5697021484375,
467.1872863769531
],
"reprojection_error_px": 5.1445661166529515,
"reprojection_error_px": 0.9814498981919079,
"confidence": 0.22017552547080893
},
{
@@ -341,10 +341,10 @@
556.0
],
"projected_center_px": [
738.748779296875,
554.3997802734375
738.606689453125,
555.7977294921875
],
"reprojection_error_px": 1.6002201921597794,
"reprojection_error_px": 0.24789366909289595,
"confidence": 0.24902550615732547
},
{
@@ -354,10 +354,10 @@
511.75
],
"projected_center_px": [
665.9569702148438,
510.8033447265625
666.0765991210938,
511.6878967285156
],
"reprojection_error_px": 1.408569252628397,
"reprojection_error_px": 0.9254868986073747,
"confidence": 0.2093822185726055
},
{
@@ -367,10 +367,10 @@
537.25
],
"projected_center_px": [
330.6866760253906,
537.0372924804688
330.92333984375,
537.0352172851562
],
"reprojection_error_px": 0.6021448241368856,
"reprojection_error_px": 0.39094561293986413,
"confidence": 0.16725963004706537
},
{
@@ -380,10 +380,10 @@
534.0
],
"projected_center_px": [
519.3466796875,
533.4042358398438
519.4425048828125,
533.968017578125
],
"reprojection_error_px": 0.6151764403419393,
"reprojection_error_px": 0.06579182175160403,
"confidence": 0.22298824455832925
},
{
@@ -393,10 +393,10 @@
466.0
],
"projected_center_px": [
1200.085205078125,
463.62249755859375
1199.552001953125,
465.9305725097656
],
"reprojection_error_px": 2.5199375749050743,
"reprojection_error_px": 0.30987958321186465,
"confidence": 0.13595850692924102
},
{
@@ -406,10 +406,10 @@
444.5
],
"projected_center_px": [
858.741943359375,
449.60101318359375
858.6062622070312,
444.6478271484375
],
"reprojection_error_px": 5.196564935359262,
"reprojection_error_px": 0.8689291300245319,
"confidence": 0.17248468175234963
},
{
@@ -419,10 +419,10 @@
463.25
],
"projected_center_px": [
528.1810913085938,
462.8843994140625
528.8941650390625,
463.13134765625
],
"reprojection_error_px": 1.12970331459267,
"reprojection_error_px": 0.3750958518869015,
"confidence": 0.12157403976480062
},
{
@@ -432,10 +432,10 @@
498.75
],
"projected_center_px": [
425.3331298828125,
498.75323486328125
425.9017333984375,
498.8298034667969
],
"reprojection_error_px": 0.08319279870799132,
"reprojection_error_px": 0.6566011087042826,
"confidence": 0.14922985097126407
},
{
@@ -445,10 +445,10 @@
447.25
],
"projected_center_px": [
464.1731262207031,
447.00830078125
465.2051086425781,
447.0129699707031
],
"reprojection_error_px": 1.3487077290984628,
"reprojection_error_px": 0.3783439539236665,
"confidence": 0.11373255626245794
},
{
@@ -458,10 +458,10 @@
431.0
],
"projected_center_px": [
1196.6109619140625,
428.8692932128906
1195.8790283203125,
431.05682373046875
],
"reprojection_error_px": 2.298078943400361,
"reprojection_error_px": 0.14098667946671503,
"confidence": 0.1208904643109979
},
{
@@ -471,10 +471,10 @@
455.5
],
"projected_center_px": [
1134.412109375,
453.6326904296875
1133.9239501953125,
455.70294189453125
],
"reprojection_error_px": 2.0781695174704935,
"reprojection_error_px": 0.47002040451605914,
"confidence": 0.15549629518828512
},
{
@@ -484,10 +484,10 @@
413.0
],
"projected_center_px": [
763.891845703125,
417.86798095703125
764.12890625,
412.9070129394531
],
"reprojection_error_px": 4.870047104650417,
"reprojection_error_px": 0.39014938128646404,
"confidence": 0.13332463075982282
},
{
@@ -497,10 +497,10 @@
429.0
],
"projected_center_px": [
1148.4207763671875,
427.11407470703125
1147.78271484375,
429.1512756347656
],
"reprojection_error_px": 2.0987003904869974,
"reprojection_error_px": 0.32064310463555845,
"confidence": 0.13255097071329755
},
{
@@ -510,10 +510,10 @@
408.75
],
"projected_center_px": [
1127.431396484375,
406.6729736328125
1126.7515869140625,
408.60955810546875
],
"reprojection_error_px": 2.078159034421623,
"reprojection_error_px": 0.7614762458159929,
"confidence": 0.1265670983135443
},
{
@@ -523,10 +523,10 @@
409.25
],
"projected_center_px": [
377.0504150390625,
409.83306884765625
378.78729248046875,
409.5100402832031
],
"reprojection_error_px": 1.5624550681806375,
"reprojection_error_px": 0.3875021525388582,
"confidence": 0.09620577544552089
}
]