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

267
benchmark/stage0_corner_normals.py Normal file
View File

@@ -0,0 +1,267 @@
#!/usr/bin/env python3
"""
stage0_corner_normals.py
========================
Go/No-Go test for corner-based marker orientation.
The current pipeline triangulates only each marker's CENTER (one point) and
copies the normal from robot.json. This script instead triangulates the 4
ArUco CORNERS of every marker (multi-view) from the existing detection + pose
JSONs, derives the marker normal from the triangulated corner plane, and
compares it against the ground-truth normal from render_*.json.
It answers one question, without touching the pipeline:
How accurate is a normal derived purely from triangulated corners?
Inputs (defaults target Scene8):
--evalDir data/evaluations/Scene8 (render_*_aruco_detection.json + _camera_pose.json)
--gt data/simulation/Scene8/render_a.json (ground-truth marker poses)
Output: per-link + overall statistics of the normal angle error (deg),
a text histogram, and optional JSON.
"""
from __future__ import annotations
import argparse
import glob
import json
import math
import os
import re
from collections import defaultdict
from typing import Dict, List, Tuple
import numpy as np
import cv2
# ------------------------------------------------------------------
# Loading
# ------------------------------------------------------------------
def load_cameras(eval_dir: str) -> Dict[str, dict]:
"""Load intrinsics, world->cam pose and per-marker 4-corner pixels per camera."""
cams: Dict[str, dict] = {}
for det_path in glob.glob(os.path.join(eval_dir, "*_aruco_detection.json")):
base = os.path.basename(det_path)
m = re.match(r"render_([A-Za-z0-9]+)_aruco_detection\.json", base)
if not m:
continue
cam_id = m.group(1)
pose_path = os.path.join(eval_dir, f"render_{cam_id}_camera_pose.json")
if not os.path.exists(pose_path):
print(f"[WARN] no pose for camera {cam_id}, skipping")
continue
det = json.load(open(det_path, "r", encoding="utf-8"))
pose = json.load(open(pose_path, "r", encoding="utf-8"))
K = np.array(det["camera"]["camera_matrix"], dtype=float).reshape(3, 3)
D = np.array(det["camera"]["distortion_coefficients"], dtype=float).reshape(-1, 1)
w2c = pose["camera_pose"]["world_to_camera"]
R = np.array(w2c["rotation_matrix"], dtype=float).reshape(3, 3)
t = np.array(w2c["translation_m"], dtype=float).reshape(3)
markers: Dict[int, np.ndarray] = {}
for d in det.get("detections", []):
pts = d.get("image_points_px")
if pts is None:
continue
markers[int(d["marker_id"])] = np.array(pts, dtype=float).reshape(4, 2)
cams[cam_id] = dict(K=K, D=D, R=R, t=t, markers=markers)
return cams
# ------------------------------------------------------------------
# Geometry
# ------------------------------------------------------------------
def triangulate_multiview(observations: List[Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]]) -> np.ndarray:
"""
DLT triangulation of one 3D point from N cameras.
observations: list of (K, D, R_wc, t_wc, uv_pixel).
Uses undistorted normalized coordinates so P = [R | t].
"""
A = []
for K, D, R, t, uv in observations:
und = cv2.undistortPoints(np.array([[uv]], dtype=np.float32), K, D).reshape(2)
x, y = float(und[0]), float(und[1])
P = np.hstack([R, t.reshape(3, 1)]) # 3x4 normalized projection
A.append(x * P[2] - P[0])
A.append(y * P[2] - P[1])
A = np.asarray(A, dtype=float)
_, _, Vt = np.linalg.svd(A)
X = Vt[-1]
if abs(X[3]) < 1e-12:
return np.array([np.nan, np.nan, np.nan])
return X[:3] / X[3]
def corner_plane_normal(corners3d: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
"""
Best-fit plane normal through the 4 triangulated corners (SVD), with the
sign fixed by the ArUco corner ordering (right-hand rule on the first edges).
Returns (unit_normal, center).
"""
center = corners3d.mean(axis=0)
centered = corners3d - center
_, _, Vt = np.linalg.svd(centered)
n = Vt[-1]
# ArUco corners are clockwise seen from the front, so the outward (camera-
# facing) marker normal — matching the Blender ground-truth convention —
# points opposite to cross(edge_01, edge_02). Align the sign to that.
cross = np.cross(corners3d[1] - corners3d[0], corners3d[2] - corners3d[0])
if np.dot(n, cross) > 0:
n = -n
nn = np.linalg.norm(n)
return (n / nn if nn > 1e-12 else n), center
def angle_between_deg(a: np.ndarray, b: np.ndarray) -> float:
na, nb = np.linalg.norm(a), np.linalg.norm(b)
if na < 1e-12 or nb < 1e-12:
return float("nan")
c = float(np.clip(np.dot(a, b) / (na * nb), -1.0, 1.0))
return math.degrees(math.acos(c))
# ------------------------------------------------------------------
# Reporting
# ------------------------------------------------------------------
def stats(values: List[float]) -> dict:
if not values:
return dict(n=0)
arr = np.array(values, dtype=float)
return dict(
n=len(arr),
mean=float(arr.mean()),
median=float(np.median(arr)),
p90=float(np.percentile(arr, 90)),
max=float(arr.max()),
)
def text_histogram(values: List[float], bins: List[float]) -> str:
counts = [0] * (len(bins) + 1)
for v in values:
placed = False
for i, b in enumerate(bins):
if v < b:
counts[i] += 1
placed = True
break
if not placed:
counts[-1] += 1
total = max(1, len(values))
lines = []
edges = [f"<{bins[0]:g}"] + [f"{bins[i-1]:g}-{bins[i]:g}" for i in range(1, len(bins))] + [f">={bins[-1]:g}"]
for label, c in zip(edges, counts):
bar = "#" * int(round(40 * c / total))
lines.append(f" {label:>10}deg | {c:3d} | {bar}")
return "\n".join(lines)
def main() -> None:
ap = argparse.ArgumentParser(description="Stage 0: corner-derived normal accuracy vs ground truth")
ap.add_argument("--evalDir", default="data/evaluations/Scene8",
help="folder with render_*_aruco_detection.json + _camera_pose.json")
ap.add_argument("--gt", default="data/simulation/Scene8/render_a.json",
help="ground-truth marker JSON (render_*.json)")
ap.add_argument("--minCams", type=int, default=2, help="min cameras to triangulate a marker")
ap.add_argument("--out", default=None, help="optional JSON output path")
args = ap.parse_args()
cams = load_cameras(args.evalDir)
print(f"[INFO] Cameras: {sorted(cams.keys())}")
if len(cams) < 2:
print("[ERROR] need >=2 cameras")
return
gt = {int(m["id"]): m for m in json.load(open(args.gt, "r", encoding="utf-8"))}
print(f"[INFO] Ground-truth markers: {len(gt)}")
marker_cams: Dict[int, List[str]] = defaultdict(list)
for cid, cam in cams.items():
for mid in cam["markers"]:
marker_cams[mid].append(cid)
results = []
for mid, cam_ids in sorted(marker_cams.items()):
if len(cam_ids) < args.minCams or mid not in gt:
continue
corners3d = []
ok = True
for ci in range(4):
obs = [(cams[c]["K"], cams[c]["D"], cams[c]["R"], cams[c]["t"], cams[c]["markers"][mid][ci])
for c in cam_ids]
X = triangulate_multiview(obs)
if not np.all(np.isfinite(X)):
ok = False
break
corners3d.append(X)
if not ok:
continue
corners3d = np.array(corners3d)
n_meas, center = corner_plane_normal(corners3d)
n_gt = np.array(gt[mid]["normal"], dtype=float)
a_signed = angle_between_deg(n_meas, n_gt)
a_flip = min(a_signed, 180.0 - a_signed)
center_err_mm = float(np.linalg.norm(center - np.array(gt[mid]["position_m"], dtype=float)) * 1000.0)
edge_mm = float(np.mean([np.linalg.norm(corners3d[(i + 1) % 4] - corners3d[i]) for i in range(4)]) * 1000.0)
results.append(dict(
id=mid, link=gt[mid].get("link", "?"), n_cams=len(cam_ids),
angle_signed_deg=a_signed, angle_flip_deg=a_flip,
center_err_mm=center_err_mm, edge_mm=edge_mm,
))
if not results:
print("[ERROR] no markers triangulated")
return
# ---- per-link breakdown ----
by_link: Dict[str, List[dict]] = defaultdict(list)
for r in results:
by_link[r["link"]].append(r)
print(f"\n{'='*70}\nCORNER-DERIVED NORMAL ERROR vs GROUND TRUTH ({len(results)} markers)\n{'='*70}")
print(f"{'link':>10} | {'n':>3} | {'normalErr(flip) mean/med/p90/max [deg]':>40} | {'ctrErr':>7} | {'edge':>6}")
print("-" * 95)
order = sorted(by_link.keys(), key=lambda k: -len(by_link[k]))
for link in order:
rs = by_link[link]
af = stats([r["angle_flip_deg"] for r in rs])
ce = np.mean([r["center_err_mm"] for r in rs])
ed = np.mean([r["edge_mm"] for r in rs])
print(f"{link:>10} | {af['n']:>3} | "
f"{af['mean']:7.2f} /{af['median']:6.2f} /{af['p90']:6.2f} /{af['max']:6.2f} | "
f"{ce:6.1f}mm | {ed:5.1f}mm")
all_flip = [r["angle_flip_deg"] for r in results]
all_signed = [r["angle_signed_deg"] for r in results]
a = stats(all_flip)
print("-" * 95)
print(f"{'ALL':>10} | {a['n']:>3} | "
f"{a['mean']:7.2f} /{a['median']:6.2f} /{a['p90']:6.2f} /{a['max']:6.2f} |")
# sign consistency: how many are 'flipped' (>90 deg signed)
flipped = sum(1 for s in all_signed if s > 90.0)
print(f"\n[INFO] sign: {flipped}/{len(all_signed)} markers have signed angle >90deg "
f"(consistent flip = trivially fixable; mixed = corner-order issue)")
print(f"[INFO] GT marker edge length is 25.0mm — triangulated mean edge tells corner-triangulation quality.")
print(f"\nHistogram of normal error (flip-invariant), {len(all_flip)} markers:")
print(text_histogram(all_flip, [1, 2, 5, 10, 20, 45]))
if args.out:
json.dump({"results": results, "overall": a}, open(args.out, "w", encoding="utf-8"), indent=2)
print(f"\n[INFO] wrote {args.out}")
if __name__ == "__main__":
main()

515
benchmark/stage0_scene8.json Normal file
View File

@@ -0,0 +1,515 @@
{
"results": [
{
"id": 41,
"link": "FingerA",
"n_cams": 4,
"angle_signed_deg": 1.1434420142628594,
"angle_flip_deg": 1.1434420142628594,
"center_err_mm": 0.44066643086764096,
"edge_mm": 24.016180354604842
},
{
"id": 42,
"link": "FingerA",
"n_cams": 2,
"angle_signed_deg": 0.7690528091207107,
"angle_flip_deg": 0.7690528091207107,
"center_err_mm": 0.47138540733240264,
"edge_mm": 24.71301484445469
},
{
"id": 43,
"link": "FingerB",
"n_cams": 2,
"angle_signed_deg": 1.4318713194101393,
"angle_flip_deg": 1.4318713194101393,
"center_err_mm": 1.3060871755679715,
"edge_mm": 24.559877670993526
},
{
"id": 44,
"link": "FingerB",
"n_cams": 3,
"angle_signed_deg": 1.4354091396273663,
"angle_flip_deg": 1.4354091396273663,
"center_err_mm": 0.49591116365549415,
"edge_mm": 24.275020717296524
},
{
"id": 46,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 1.546856095969066,
"angle_flip_deg": 1.546856095969066,
"center_err_mm": 0.5153058457174745,
"edge_mm": 23.732848555198473
},
{
"id": 47,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.4384043190770205,
"angle_flip_deg": 0.4384043190770205,
"center_err_mm": 0.3654847714391029,
"edge_mm": 23.78437453104651
},
{
"id": 51,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 3.06869698457462,
"angle_flip_deg": 3.06869698457462,
"center_err_mm": 0.7361951285731234,
"edge_mm": 24.111903805060948
},
{
"id": 53,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 0.8369743799079993,
"angle_flip_deg": 0.8369743799079993,
"center_err_mm": 0.4103871642969998,
"edge_mm": 23.584999176949037
},
{
"id": 54,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 7.0704376693875295,
"angle_flip_deg": 7.0704376693875295,
"center_err_mm": 0.3377764024826177,
"edge_mm": 23.502812403745992
},
{
"id": 55,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.5805708551806682,
"angle_flip_deg": 0.5805708551806682,
"center_err_mm": 0.4294083846132877,
"edge_mm": 23.63991754007732
},
{
"id": 56,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.4444651006662814,
"angle_flip_deg": 1.4444651006662814,
"center_err_mm": 0.4211345799124642,
"edge_mm": 23.797367435632474
},
{
"id": 58,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 1.0125201906777848,
"angle_flip_deg": 1.0125201906777848,
"center_err_mm": 0.42801314700148346,
"edge_mm": 23.62386484154858
},
{
"id": 60,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 2.6210545533711227,
"angle_flip_deg": 2.6210545533711227,
"center_err_mm": 0.4749803803977136,
"edge_mm": 23.77203259223079
},
{
"id": 61,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 3.072194121255888,
"angle_flip_deg": 3.072194121255888,
"center_err_mm": 0.6970136421239362,
"edge_mm": 22.261411657808225
},
{
"id": 62,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 1.5093452673644796,
"angle_flip_deg": 1.5093452673644796,
"center_err_mm": 0.5892317628649099,
"edge_mm": 23.687621228611007
},
{
"id": 63,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.7265363196160926,
"angle_flip_deg": 1.7265363196160926,
"center_err_mm": 0.7443757993233989,
"edge_mm": 23.573066344516413
},
{
"id": 64,
"link": "Board",
"n_cams": 5,
"angle_signed_deg": 1.5794667324616416,
"angle_flip_deg": 1.5794667324616416,
"center_err_mm": 0.38746648221661434,
"edge_mm": 23.91280234762309
},
{
"id": 66,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 1.067206162586506,
"angle_flip_deg": 1.067206162586506,
"center_err_mm": 0.47008892710515954,
"edge_mm": 23.540483661229402
},
{
"id": 68,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.2374042106636467,
"angle_flip_deg": 1.2374042106636467,
"center_err_mm": 0.48097116988306843,
"edge_mm": 23.579267072106983
},
{
"id": 69,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 2.331907164327804,
"angle_flip_deg": 2.331907164327804,
"center_err_mm": 0.7556520773496269,
"edge_mm": 23.886317251793574
},
{
"id": 72,
"link": "Board",
"n_cams": 5,
"angle_signed_deg": 0.9756163609132039,
"angle_flip_deg": 0.9756163609132039,
"center_err_mm": 0.3559113756299301,
"edge_mm": 23.912165684275976
},
{
"id": 73,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.6450376932823634,
"angle_flip_deg": 1.6450376932823634,
"center_err_mm": 0.5559668493434247,
"edge_mm": 23.691809129413368
},
{
"id": 75,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.5908298530562284,
"angle_flip_deg": 1.5908298530562284,
"center_err_mm": 0.43818306200399165,
"edge_mm": 23.83519637358736
},
{
"id": 79,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 1.9555389722730987,
"angle_flip_deg": 1.9555389722730987,
"center_err_mm": 0.6330383990904807,
"edge_mm": 23.905818442604684
},
{
"id": 82,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 5.64999716553466,
"angle_flip_deg": 5.64999716553466,
"center_err_mm": 0.45896967390213783,
"edge_mm": 23.96349217834595
},
{
"id": 83,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 1.3394651650608178,
"angle_flip_deg": 1.3394651650608178,
"center_err_mm": 0.5125771544940219,
"edge_mm": 23.57790846394849
},
{
"id": 84,
"link": "Board",
"n_cams": 5,
"angle_signed_deg": 1.5903943120945165,
"angle_flip_deg": 1.5903943120945165,
"center_err_mm": 0.46852115904452035,
"edge_mm": 23.782504641797235
},
{
"id": 85,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.16007549674022167,
"angle_flip_deg": 0.16007549674022167,
"center_err_mm": 0.5959941236153405,
"edge_mm": 23.456770837034693
},
{
"id": 86,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 2.910409435547614,
"angle_flip_deg": 2.910409435547614,
"center_err_mm": 0.5941332401694139,
"edge_mm": 23.616499433317873
},
{
"id": 92,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 0.703424991461952,
"angle_flip_deg": 0.703424991461952,
"center_err_mm": 0.34516139006794366,
"edge_mm": 23.589186098093407
},
{
"id": 95,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.9077064412203442,
"angle_flip_deg": 0.9077064412203442,
"center_err_mm": 0.4679557488019616,
"edge_mm": 23.640819756206223
},
{
"id": 96,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 0.6787246328111383,
"angle_flip_deg": 0.6787246328111383,
"center_err_mm": 0.42096508219349743,
"edge_mm": 23.615436793373675
},
{
"id": 97,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.6173651478477283,
"angle_flip_deg": 0.6173651478477283,
"center_err_mm": 0.32409567465563904,
"edge_mm": 23.529095190528608
},
{
"id": 102,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 1.2014930081148716,
"angle_flip_deg": 1.2014930081148716,
"center_err_mm": 0.8067803284068574,
"edge_mm": 23.658019025511702
},
{
"id": 103,
"link": "Board",
"n_cams": 5,
"angle_signed_deg": 1.0645869855879095,
"angle_flip_deg": 1.0645869855879095,
"center_err_mm": 0.3981807809406007,
"edge_mm": 23.681565447124076
},
{
"id": 105,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 0.18416716706733607,
"angle_flip_deg": 0.18416716706733607,
"center_err_mm": 0.339889092552321,
"edge_mm": 23.335067539509037
},
{
"id": 114,
"link": "Arm2",
"n_cams": 4,
"angle_signed_deg": 1.035150201301489,
"angle_flip_deg": 1.035150201301489,
"center_err_mm": 0.4746035317615624,
"edge_mm": 24.913426591026695
},
{
"id": 115,
"link": "Arm2",
"n_cams": 4,
"angle_signed_deg": 0.9021760629087481,
"angle_flip_deg": 0.9021760629087481,
"center_err_mm": 0.6218495698238082,
"edge_mm": 24.362103277922028
},
{
"id": 120,
"link": "Arm2",
"n_cams": 4,
"angle_signed_deg": 0.5569138868384742,
"angle_flip_deg": 0.5569138868384742,
"center_err_mm": 0.4409799514799929,
"edge_mm": 24.53632605870948
},
{
"id": 198,
"link": "Arm1",
"n_cams": 5,
"angle_signed_deg": 0.937935423310891,
"angle_flip_deg": 0.937935423310891,
"center_err_mm": 0.3747023863955182,
"edge_mm": 23.855002161679018
},
{
"id": 205,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 1.7203600028293877,
"angle_flip_deg": 1.7203600028293877,
"center_err_mm": 0.3235782454486941,
"edge_mm": 23.81796815521869
},
{
"id": 206,
"link": "Board",
"n_cams": 3,
"angle_signed_deg": 2.236776293627657,
"angle_flip_deg": 2.236776293627657,
"center_err_mm": 0.8150367716541782,
"edge_mm": 23.7299964756003
},
{
"id": 207,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 3.752570841912504,
"angle_flip_deg": 3.752570841912504,
"center_err_mm": 1.3596114357486246,
"edge_mm": 22.924583680006528
},
{
"id": 208,
"link": "Board",
"n_cams": 5,
"angle_signed_deg": 0.15504134243057513,
"angle_flip_deg": 0.15504134243057513,
"center_err_mm": 0.34416967908488894,
"edge_mm": 23.893344121965868
},
{
"id": 210,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 0.8675183900515165,
"angle_flip_deg": 0.8675183900515165,
"center_err_mm": 0.39827550357589053,
"edge_mm": 23.865763944763213
},
{
"id": 211,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 6.778964810293535,
"angle_flip_deg": 6.778964810293535,
"center_err_mm": 0.6128161118740145,
"edge_mm": 28.95194659717587
},
{
"id": 214,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 2.263369686442294,
"angle_flip_deg": 2.263369686442294,
"center_err_mm": 0.41274063853843634,
"edge_mm": 24.328457239006813
},
{
"id": 215,
"link": "Board",
"n_cams": 2,
"angle_signed_deg": 0.6839043688207129,
"angle_flip_deg": 0.6839043688207129,
"center_err_mm": 0.3731837721514992,
"edge_mm": 23.315766350549882
},
{
"id": 217,
"link": "Board",
"n_cams": 4,
"angle_signed_deg": 0.5080287913248831,
"angle_flip_deg": 0.5080287913248831,
"center_err_mm": 0.6933389330998323,
"edge_mm": 23.756701261435616
},
{
"id": 219,
"link": "Arm2",
"n_cams": 2,
"angle_signed_deg": 0.6129175586042959,
"angle_flip_deg": 0.6129175586042959,
"center_err_mm": 0.625908527719747,
"edge_mm": 24.523390487648925
},
{
"id": 229,
"link": "Arm1",
"n_cams": 4,
"angle_signed_deg": 0.2605199187659484,
"angle_flip_deg": 0.2605199187659484,
"center_err_mm": 0.32836977551949925,
"edge_mm": 23.868570044407132
},
{
"id": 232,
"link": "Ellbow",
"n_cams": 2,
"angle_signed_deg": 1.1784768319184977,
"angle_flip_deg": 1.1784768319184977,
"center_err_mm": 0.3146279496116689,
"edge_mm": 24.565060454760506
},
{
"id": 243,
"link": "Arm1",
"n_cams": 5,
"angle_signed_deg": 0.7226952116246294,
"angle_flip_deg": 0.7226952116246294,
"center_err_mm": 0.32911426133868327,
"edge_mm": 24.30342997031465
},
{
"id": 244,
"link": "Ellbow",
"n_cams": 2,
"angle_signed_deg": 1.9945025838741741,
"angle_flip_deg": 1.9945025838741741,
"center_err_mm": 0.8529221300355752,
"edge_mm": 24.12077132350216
},
{
"id": 245,
"link": "Ellbow",
"n_cams": 5,
"angle_signed_deg": 0.40470626965848056,
"angle_flip_deg": 0.40470626965848056,
"center_err_mm": 0.49781974099512044,
"edge_mm": 23.935770756719187
},
{
"id": 248,
"link": "Ellbow",
"n_cams": 5,
"angle_signed_deg": 0.25927270212557935,
"angle_flip_deg": 0.25927270212557935,
"center_err_mm": 0.3563043915502283,
"edge_mm": 24.24622073478565
}
],
"overall": {
"n": 56,
"mean": 1.5523294538712056,
"median": 1.1609594230906786,
"p90": 2.989553210061117,
"max": 7.0704376693875295
}
}

2419
data/evaluations/Scene8/aruco_marker_poses.json Normal file
View File

File diff suppressed because it is too large Load Diff

622
data/evaluations/Scene9/aruco_positions_initial.json
View File

File diff suppressed because it is too large Load Diff

622
data/evaluations/Scene9/aruco_positions_optimized.json
View File

File diff suppressed because it is too large Load Diff

242
data/evaluations/Scene9/render_a_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:21Z", "created_utc": "2026-06-01T19:31:48Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_a.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_a.png",
"image_sha256": "c3a12273fee073d0c6657d851a788658f7f8be41da5213cb41556e1a345496f0", "image_sha256": "13c3d9725fc45f51951fbf4f801ecd0fe13487766016f9fc963056cab744ee8c",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 28, "num_detected_markers": 29,
"num_rejected_candidates": 22 "num_rejected_candidates": 22
}, },
"detections": [ "detections": [
{ {
"observation_id": "48d34e1f-316c-41b2-b08f-eacad4634407", "observation_id": "f5421311-616d-471a-b0c3-9e8dfb9bed6d",
"type": "aruco", "type": "aruco",
"marker_id": 42, "marker_id": 42,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.8374556851639195 "confidence": 0.8374556851639195
}, },
{ {
"observation_id": "8a4f303b-a202-4e19-9947-5967ce481f35", "observation_id": "b774f3bf-2154-40d9-896f-210183c3a5ea",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1442.0, "area_px": 1442.0,
"perimeter_px": 153.1558074951172, "perimeter_px": 153.1558074951172,
"sharpness": { "sharpness": {
"laplacian_var": 3963.3654560364203 "laplacian_var": 3964.4670820526803
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 189.0, "p95": 189.0,
"dynamic_range": 171.0, "dynamic_range": 171.0,
"mean_gray": 78.21849593495935, "mean_gray": 78.21951219512195,
"std_gray": 74.72910442487782 "std_gray": 74.72969301186929
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.39501953125, "distance_to_center_norm": 0.39501953125,
@@ -154,7 +154,7 @@
"confidence": 0.8294132973023032 "confidence": 0.8294132973023032
}, },
{ {
"observation_id": "32f7a44e-84f5-486e-82f1-303d7d0c9562", "observation_id": "c367beba-3186-4848-aec9-6caa81043e9e",
"type": "aruco", "type": "aruco",
"marker_id": 219, "marker_id": 219,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 1381.5, "area_px": 1381.5,
"perimeter_px": 152.25673294067383, "perimeter_px": 152.25673294067383,
"sharpness": { "sharpness": {
"laplacian_var": 2891.3887141938194 "laplacian_var": 2891.633318510366
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 186.0, "p95": 186.0,
"dynamic_range": 164.0, "dynamic_range": 164.0,
"mean_gray": 85.78211716341212, "mean_gray": 85.78314491264132,
"std_gray": 72.38466254586939 "std_gray": 72.38374982708748
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1749248206615448, "distance_to_center_norm": 0.1749248206615448,
@@ -208,7 +208,7 @@
"confidence": 0.8981552472038941 "confidence": 0.8981552472038941
}, },
{ {
"observation_id": "0dcc1d6d-ef68-4a2e-9d29-0f525c5e91c6", "observation_id": "594ab337-1e9a-4a4c-a0d4-1c0439e07e32",
"type": "aruco", "type": "aruco",
"marker_id": 218, "marker_id": 218,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 1155.0, "area_px": 1155.0,
"perimeter_px": 140.67261505126953, "perimeter_px": 140.67261505126953,
"sharpness": { "sharpness": {
"laplacian_var": 2870.240830970594 "laplacian_var": 2870.096302161966
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 77.27478042659975, "mean_gray": 77.27603513174404,
"std_gray": 70.33690945711317 "std_gray": 70.33593233907042
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.11692184209823608, "distance_to_center_norm": 0.11692184209823608,
@@ -262,7 +262,7 @@
"confidence": 0.6805707817398313 "confidence": 0.6805707817398313
}, },
{ {
"observation_id": "0fc4b5d9-d69f-4f3f-9955-7396c67f5298", "observation_id": "50433785-cb4b-497c-b25f-14c71373c079",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 1099.0, "area_px": 1099.0,
"perimeter_px": 137.27795219421387, "perimeter_px": 137.27795219421387,
"sharpness": { "sharpness": {
"laplacian_var": 3137.852646408803 "laplacian_var": 3138.1420520935576
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 168.0, "dynamic_range": 168.0,
"mean_gray": 61.855297157622736, "mean_gray": 61.85271317829457,
"std_gray": 69.85536731519744 "std_gray": 69.8591903185746
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.24669387936592102, "distance_to_center_norm": 0.24669387936592102,
@@ -316,7 +316,7 @@
"confidence": 0.6358432130578832 "confidence": 0.6358432130578832
}, },
{ {
"observation_id": "6a37e879-b612-4efe-aeb9-6f2e951a4ba0", "observation_id": "201e00b9-b20e-4839-a270-245c6325fb40",
"type": "aruco", "type": "aruco",
"marker_id": 47, "marker_id": 47,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 1029.5, "area_px": 1029.5,
"perimeter_px": 132.67654037475586, "perimeter_px": 132.67654037475586,
"sharpness": { "sharpness": {
"laplacian_var": 4016.545772664153 "laplacian_var": 4029.671922237652
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 176.0, "p95": 176.0,
"dynamic_range": 166.0, "dynamic_range": 166.0,
"mean_gray": 69.51267605633802, "mean_gray": 69.47183098591549,
"std_gray": 72.31752544995521 "std_gray": 72.31646936706682
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6501306891441345, "distance_to_center_norm": 0.6501306891441345,
@@ -370,7 +370,7 @@
"confidence": 0.12146268776527554 "confidence": 0.12146268776527554
}, },
{ {
"observation_id": "c128e9d6-67a6-401f-8ee2-a42b40745e6a", "observation_id": "0b9db4d4-0670-47ab-b6dc-36d57d1d7f02",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
"confidence": 0.3676840060581848 "confidence": 0.3676840060581848
}, },
{ {
"observation_id": "397fef0c-ee3f-4233-b3a4-9b59955fa904", "observation_id": "198369f7-2f02-4da7-bf04-a1bab3273f24",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 990.0, "area_px": 990.0,
"perimeter_px": 130.19475555419922, "perimeter_px": 130.19475555419922,
"sharpness": { "sharpness": {
"laplacian_var": 3746.5140422551144 "laplacian_var": 3746.505192697592
}, },
"contrast": { "contrast": {
"p05": 21.0, "p05": 21.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 160.0, "dynamic_range": 160.0,
"mean_gray": 80.40265486725664, "mean_gray": 80.40265486725664,
"std_gray": 68.68934251150314 "std_gray": 68.6860142061246
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5678059458732605, "distance_to_center_norm": 0.5678059458732605,
@@ -478,7 +478,61 @@
"confidence": 0.46829700346999537 "confidence": 0.46829700346999537
}, },
{ {
"observation_id": "bba2b49f-c371-43a6-8bba-c87e16f04ae3", "observation_id": "b57bc958-bbaf-4151-b932-ab8cb6d6f23b",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
745.0,
555.0
],
[
745.0,
585.0
],
[
715.0,
601.0
],
[
714.0,
571.0
]
],
"center_px": [
729.75,
578.0
],
"quality": {
"area_px": 923.0,
"perimeter_px": 128.90219116210938,
"sharpness": {
"laplacian_var": 3618.1761689600007
},
"contrast": {
"p05": 21.0,
"p95": 179.0,
"dynamic_range": 158.0,
"mean_gray": 92.5024,
"std_gray": 70.11748137404823
},
"geometry": {
"distance_to_center_norm": 0.32105591893196106,
"distance_to_border_px": 119.0
},
"edge_ratio": 1.1628509521484376,
"edge_lengths_px": [
30.0,
34.0,
30.01666259765625,
34.885528564453125
]
},
"confidence": 0.5291592462442996
},
{
"observation_id": "5205fdbf-1d9f-40f9-9c5a-cd0312a6f2c1",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 879.0, "area_px": 879.0,
"perimeter_px": 128.5063819885254, "perimeter_px": 128.5063819885254,
"sharpness": { "sharpness": {
"laplacian_var": 2806.1179224194607 "laplacian_var": 2799.6909810796988
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 176.0, "p95": 176.0,
"dynamic_range": 153.0, "dynamic_range": 153.0,
"mean_gray": 78.75726495726495, "mean_gray": 78.6991452991453,
"std_gray": 67.15701122460786 "std_gray": 67.19189320215645
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.35053613781929016, "distance_to_center_norm": 0.35053613781929016,
@@ -532,7 +586,7 @@
"confidence": 0.4531062923543488 "confidence": 0.4531062923543488
}, },
{ {
"observation_id": "c5a773d6-c4c6-490d-be11-c9e5fcb33ae8", "observation_id": "bf1e30ee-0e71-40a6-a4ec-f8b34b07af00",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +616,14 @@
"area_px": 877.0, "area_px": 877.0,
"perimeter_px": 127.13765335083008, "perimeter_px": 127.13765335083008,
"sharpness": { "sharpness": {
"laplacian_var": 3414.43585536 "laplacian_var": 3319.7345638399997
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 159.0, "dynamic_range": 159.0,
"mean_gray": 80.2752, "mean_gray": 80.2768,
"std_gray": 70.19976826856339 "std_gray": 70.12511234757488
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3232363760471344, "distance_to_center_norm": 0.3232363760471344,
@@ -586,7 +640,7 @@
"confidence": 0.5158823529411765 "confidence": 0.5158823529411765
}, },
{ {
"observation_id": "8332365e-d9cc-49ad-86e5-dece63b32eab", "observation_id": "4faba34e-afbf-4b27-997d-160e149819b5",
"type": "aruco", "type": "aruco",
"marker_id": 198, "marker_id": 198,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +670,14 @@
"area_px": 922.5, "area_px": 922.5,
"perimeter_px": 126.53729057312012, "perimeter_px": 126.53729057312012,
"sharpness": { "sharpness": {
"laplacian_var": 4634.97099635796 "laplacian_var": 4632.298280437045
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 168.0, "dynamic_range": 168.0,
"mean_gray": 82.68548387096774, "mean_gray": 82.68387096774194,
"std_gray": 72.67803134988525 "std_gray": 72.67745844249626
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.18834809958934784, "distance_to_center_norm": 0.18834809958934784,
@@ -640,7 +694,7 @@
"confidence": 0.5036164123338793 "confidence": 0.5036164123338793
}, },
{ {
"observation_id": "4e4b0d16-6789-4f9a-b1fb-bc880d1cf9cf", "observation_id": "b211af11-3c9a-4e75-a708-c34a9b9c8eaf",
"type": "aruco", "type": "aruco",
"marker_id": 85, "marker_id": 85,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 895.0, "area_px": 895.0,
"perimeter_px": 125.45559501647949, "perimeter_px": 125.45559501647949,
"sharpness": { "sharpness": {
"laplacian_var": 3889.5816952393966 "laplacian_var": 3899.7599999999998
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 172.0, "p95": 172.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 114.22975206611571, "mean_gray": 114.24462809917355,
"std_gray": 68.1999862395809 "std_gray": 68.19817737126496
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8151581883430481, "distance_to_center_norm": 0.8151581883430481,
@@ -694,7 +748,7 @@
"confidence": 0.4560525484643318 "confidence": 0.4560525484643318
}, },
{ {
"observation_id": "152a5dac-6010-43da-9ce3-1b60f59bcfdb", "observation_id": "499ac6e9-8c95-492c-ad91-c864b37c364c",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 862.0, "area_px": 862.0,
"perimeter_px": 121.78662872314453, "perimeter_px": 121.78662872314453,
"sharpness": { "sharpness": {
"laplacian_var": 4343.472312915915 "laplacian_var": 4282.376438345293
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.650000000000002,
"p95": 175.0, "p95": 174.0,
"dynamic_range": 163.0, "dynamic_range": 161.35,
"mean_gray": 96.003367003367, "mean_gray": 95.92255892255892,
"std_gray": 69.24506319256324 "std_gray": 69.14814085245463
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.402599573135376, "distance_to_center_norm": 0.402599573135376,
@@ -748,7 +802,7 @@
"confidence": 0.5734281513866332 "confidence": 0.5734281513866332
}, },
{ {
"observation_id": "d6694108-bb92-466d-a0c1-f07c287cb78d", "observation_id": "ca0f2ea1-d448-4cdd-9f63-44437e35e910",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 834.0, "area_px": 834.0,
"perimeter_px": 120.57016181945801, "perimeter_px": 120.57016181945801,
"sharpness": { "sharpness": {
"laplacian_var": 3505.3636360798614 "laplacian_var": 3505.2883198691457
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 174.0, "p95": 174.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 85.90989399293287, "mean_gray": 85.89752650176679,
"std_gray": 73.32986612606422 "std_gray": 73.32241661548058
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.47566938400268555, "distance_to_center_norm": 0.47566938400268555,
@@ -802,7 +856,7 @@
"confidence": 0.525542829627259 "confidence": 0.525542829627259
}, },
{ {
"observation_id": "37e7cc83-6cf5-4fd5-8764-0b123d1eff82", "observation_id": "3383af4d-413c-4ed8-9dcd-fed6a2138d79",
"type": "aruco", "type": "aruco",
"marker_id": 62, "marker_id": 62,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +886,14 @@
"area_px": 780.0, "area_px": 780.0,
"perimeter_px": 118.13776779174805, "perimeter_px": 118.13776779174805,
"sharpness": { "sharpness": {
"laplacian_var": 2271.36157795672 "laplacian_var": 2266.6107862682425
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 172.0, "p95": 172.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 41.5606936416185, "mean_gray": 41.554913294797686,
"std_gray": 54.68758419801349 "std_gray": 54.67758335306706
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.47894710302352905, "distance_to_center_norm": 0.47894710302352905,
@@ -856,7 +910,7 @@
"confidence": 0.5038606541951498 "confidence": 0.5038606541951498
}, },
{ {
"observation_id": "5c384a47-63b5-4314-a58f-69d37e107791", "observation_id": "ee794cb3-a30f-42e1-8cbe-3ba04758d494",
"type": "aruco", "type": "aruco",
"marker_id": 105, "marker_id": 105,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +940,14 @@
"area_px": 772.0, "area_px": 772.0,
"perimeter_px": 118.03386306762695, "perimeter_px": 118.03386306762695,
"sharpness": { "sharpness": {
"laplacian_var": 2190.767798350912 "laplacian_var": 2197.299734863936
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 169.0, "p95": 169.0,
"dynamic_range": 160.0, "dynamic_range": 160.0,
"mean_gray": 38.036259541984734, "mean_gray": 38.030534351145036,
"std_gray": 54.093400831246406 "std_gray": 54.0949390094122
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7464743256568909, "distance_to_center_norm": 0.7464743256568909,
@@ -910,7 +964,7 @@
"confidence": 0.43622925667631085 "confidence": 0.43622925667631085
}, },
{ {
"observation_id": "a847e666-a038-420b-a83a-879ad7d63152", "observation_id": "c273e0d8-59ae-42be-9b47-abd58512b8d0",
"type": "aruco", "type": "aruco",
"marker_id": 75, "marker_id": 75,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -964,7 +1018,7 @@
"confidence": 0.29844141482805986 "confidence": 0.29844141482805986
}, },
{ {
"observation_id": "a32a483d-ab92-454b-b9fa-4139156f1194", "observation_id": "4850108a-90e0-4ab7-a93d-601c50e389e1",
"type": "aruco", "type": "aruco",
"marker_id": 102, "marker_id": 102,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +1048,14 @@
"area_px": 624.5, "area_px": 624.5,
"perimeter_px": 108.51360702514648, "perimeter_px": 108.51360702514648,
"sharpness": { "sharpness": {
"laplacian_var": 2987.4718255934417 "laplacian_var": 2988.1608636247615
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 100.80536912751678, "mean_gray": 100.80760626398211,
"std_gray": 63.65658822124298 "std_gray": 63.66198937113582
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7988508939743042, "distance_to_center_norm": 0.7988508939743042,
@@ -1018,7 +1072,7 @@
"confidence": 0.2521714913889437 "confidence": 0.2521714913889437
}, },
{ {
"observation_id": "1f45aa9a-b74c-4ae9-90c5-461c5224749b", "observation_id": "50e71d4d-bf0b-481c-9d91-1b310842f952",
"type": "aruco", "type": "aruco",
"marker_id": 92, "marker_id": 92,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1102,14 @@
"area_px": 580.0, "area_px": 580.0,
"perimeter_px": 104.17594909667969, "perimeter_px": 104.17594909667969,
"sharpness": { "sharpness": {
"laplacian_var": 2399.2309231751287 "laplacian_var": 2400.1230095060646
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 64.25419664268586, "mean_gray": 64.24700239808153,
"std_gray": 62.585941969968665 "std_gray": 62.58495537823318
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.733877956867218, "distance_to_center_norm": 0.733877956867218,
@@ -1072,7 +1126,7 @@
"confidence": 0.31777455864589965 "confidence": 0.31777455864589965
}, },
{ {
"observation_id": "b640bb03-e99e-4e70-bfea-cb1110bb6d3f", "observation_id": "28c9d358-de4c-4aa4-bd07-74662cc5bca3",
"type": "aruco", "type": "aruco",
"marker_id": 217, "marker_id": 217,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1156,14 @@
"area_px": 526.0, "area_px": 526.0,
"perimeter_px": 100.42813110351562, "perimeter_px": 100.42813110351562,
"sharpness": { "sharpness": {
"laplacian_var": 2729.218425246583 "laplacian_var": 2729.126284325174
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 163.0, "p95": 163.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 71.00271002710028, "mean_gray": 71.00542005420054,
"std_gray": 60.624594481698495 "std_gray": 60.6221580041796
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6100193858146667, "distance_to_center_norm": 0.6100193858146667,
@@ -1126,7 +1180,7 @@
"confidence": 0.3029173397022545 "confidence": 0.3029173397022545
}, },
{ {
"observation_id": "4d1e838c-bbd3-4249-a4e5-7cd8394dd041", "observation_id": "d13e5ca2-ecd0-48a6-ab04-94bf87a307eb",
"type": "aruco", "type": "aruco",
"marker_id": 61, "marker_id": 61,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1156,14 +1210,14 @@
"area_px": 541.0, "area_px": 541.0,
"perimeter_px": 99.51516723632812, "perimeter_px": 99.51516723632812,
"sharpness": { "sharpness": {
"laplacian_var": 3823.2999479708633 "laplacian_var": 3821.75156087409
}, },
"contrast": { "contrast": {
"p05": 9.55, "p05": 9.55,
"p95": 168.0, "p95": 168.0,
"dynamic_range": 158.45, "dynamic_range": 158.45,
"mean_gray": 100.15322580645162, "mean_gray": 100.15053763440861,
"std_gray": 64.30693925099166 "std_gray": 64.3063394651715
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7955067753791809, "distance_to_center_norm": 0.7955067753791809,
@@ -1180,7 +1234,7 @@
"confidence": 0.1527342148240039 "confidence": 0.1527342148240039
}, },
{ {
"observation_id": "b14c4e71-1615-40b5-8804-685b2c388538", "observation_id": "bcc983c9-b18f-4a70-827b-9693780c0317",
"type": "aruco", "type": "aruco",
"marker_id": 83, "marker_id": 83,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1234,7 +1288,7 @@
"confidence": 0.19743498130596515 "confidence": 0.19743498130596515
}, },
{ {
"observation_id": "c51fa6c5-c5b5-4593-aedf-6c3736e772d6", "observation_id": "053ef261-e27d-4bff-b1ba-ec11facb22ca",
"type": "aruco", "type": "aruco",
"marker_id": 206, "marker_id": 206,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1288,7 +1342,7 @@
"confidence": 0.2849187633475991 "confidence": 0.2849187633475991
}, },
{ {
"observation_id": "669db1c5-a779-4ad8-b2fc-b937f0f1136e", "observation_id": "386668e3-65d2-412f-9fb1-f7a2912ad6c9",
"type": "aruco", "type": "aruco",
"marker_id": 207, "marker_id": 207,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1342,7 +1396,7 @@
"confidence": 0.24627951083020566 "confidence": 0.24627951083020566
}, },
{ {
"observation_id": "665e11e6-4483-4ec9-80f3-a411f7460e8b", "observation_id": "f8df1c99-5941-4350-abc9-c538499d20c4",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1396,7 +1450,7 @@
"confidence": 0.1970529186973567 "confidence": 0.1970529186973567
}, },
{ {
"observation_id": "e1266e51-667e-42cf-826e-544bfc399a32", "observation_id": "b88eced0-bfa9-40e7-997d-8b8a5fb66e4b",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1450,7 +1504,7 @@
"confidence": 0.1988568274481309 "confidence": 0.1988568274481309
}, },
{ {
"observation_id": "6465eb50-c9fb-4e8c-8c8c-8676a576f05d", "observation_id": "8f15be1a-b043-4150-83b6-235d83cf0a91",
"type": "aruco", "type": "aruco",
"marker_id": 86, "marker_id": 86,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1480,14 +1534,14 @@
"area_px": 383.5, "area_px": 383.5,
"perimeter_px": 85.33429336547852, "perimeter_px": 85.33429336547852,
"sharpness": { "sharpness": {
"laplacian_var": 2860.0309348543824 "laplacian_var": 2859.1179198622835
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 154.09999999999997, "p95": 154.09999999999997,
"dynamic_range": 144.09999999999997, "dynamic_range": 144.09999999999997,
"mean_gray": 80.68817204301075, "mean_gray": 80.68458781362007,
"std_gray": 58.922398117221775 "std_gray": 58.92648490008177
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.20417363941669464, "distance_to_center_norm": 0.20417363941669464,
@@ -1504,7 +1558,7 @@
"confidence": 0.17646704338372862 "confidence": 0.17646704338372862
}, },
{ {
"observation_id": "952a6f64-3139-468b-9899-03cd9365b71c", "observation_id": "1d1723c0-3a17-4a13-89f6-78da722dbbf5",
"type": "aruco", "type": "aruco",
"marker_id": 93, "marker_id": 93,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1534,14 +1588,14 @@
"area_px": 250.5, "area_px": 250.5,
"perimeter_px": 72.85183525085449, "perimeter_px": 72.85183525085449,
"sharpness": { "sharpness": {
"laplacian_var": 2769.4730328449905 "laplacian_var": 2770.26651110586
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 141.24999999999997, "p95": 141.24999999999997,
"dynamic_range": 129.24999999999997, "dynamic_range": 129.24999999999997,
"mean_gray": 71.8695652173913, "mean_gray": 71.86413043478261,
"std_gray": 45.57989101597716 "std_gray": 45.58363093289591
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6914032101631165, "distance_to_center_norm": 0.6914032101631165,

291
data/evaluations/Scene9/render_a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:26Z", "created_utc": "2026-06-01T19:31:54Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -63,153 +63,150 @@
0, 0,
1, 1,
2, 2,
3, 3
4
], ],
"rms": [ "rms": [
0.01688824416861389, 0.0131178369174392,
0.0026488948713162797, 0.0009341199664057974,
0.0022847901177283567, 8.951705924749629e-05,
0.002284778536088292, 8.94417650683531e-05
0.0022847785345118145
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125
6.25e-05
] ]
}, },
"residual_rms_px": 5.260777163796182, "residual_rms_px": 0.22486813889140916,
"residual_median_px": 3.9336177789442863, "residual_median_px": 0.18397634606650567,
"residual_max_px": 9.206418967088428, "residual_max_px": 0.3724964147453616,
"sigma2_normalized": 6.199002880217139e-06 "sigma2_normalized": 9.499797337176313e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.8034524321556091, 0.8080857992172241,
-0.5953208208084106, -0.5890647768974304,
0.0075734867714345455 0.00012329929450061172
], ],
[ [
-0.40606069564819336, -0.34312477707862854,
-0.5572388172149658, -0.4708726704120636,
-0.7242924571037292 -0.8127387762069702
], ],
[ [
0.4354065954685211, 0.4788138270378113,
0.578859269618988, 0.6567203998565674,
-0.689451277256012 -0.5826282501220703
] ]
], ],
"translation_m": [ "translation_m": [
-0.22647301852703094, -0.2288946509361267,
0.20879590511322021, 0.17077213525772095,
1.1456412076950073 1.1346648931503296
], ],
"rvec_rad": [ "rvec_rad": [
2.2371428918604392, 2.106185216693216,
-0.7344684570702414, -0.6861101939267267,
0.32490605356533975 0.35250732520318495
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
-0.23207563161849976, -0.2997305691242218,
-0.6816399693489075, -0.7995794415473938,
0.9428082704544067 0.7999091744422913
], ],
"position_mm": [ "position_mm": [
-232.0756378173828, -299.7305603027344,
-681.6399536132812, -799.5794677734375,
942.8082885742188 799.9091796875
], ],
"orientation_deg": { "orientation_deg": {
"roll": 139.98336791992188, "roll": 131.5787353515625,
"pitch": -25.811166763305664, "pitch": -28.607959747314453,
"yaw": -26.81179428100586 "yaw": -23.006771087646484
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
4.097591089411523e-05, 4.725506079709479e-08,
-1.3516690365163344e-05, -1.4448456889719837e-08,
3.233947921489375e-06, 5.265136212888318e-10,
2.8375694519427413e-06, 2.722298041827284e-09,
6.358422974851678e-06, 7.53026534167571e-09,
1.0788754679638468e-05 1.2450714858253565e-08
], ],
[ [
-1.3516690365163376e-05, -1.4448456889719758e-08,
1.6114384837211145e-05, 2.2837558761749823e-08,
-8.778002475074104e-06, -1.1460083508985997e-08,
-3.914652718179436e-06, -5.508227074743783e-09,
-4.423000384742518e-06, -5.8880035311381874e-09,
-1.9181520799013528e-06 -1.3528112509188459e-09
], ],
[ [
3.233947921489427e-06, 5.265136212888815e-10,
-8.77800247507413e-06, -1.1460083508985972e-08,
5.513946330528815e-05, 6.239306541506652e-08,
8.433095193903186e-06, 1.0355154189007053e-08,
-4.2346249444135545e-06, -5.815770856622252e-09,
-1.2253759154226465e-05 -1.3726290750827155e-08
], ],
[ [
2.8375694519427536e-06, 2.7222980418272523e-09,
-3.914652718179437e-06, -5.508227074743793e-09,
8.433095193903184e-06, 1.0355154189007066e-08,
2.3821183334401835e-06, 3.3402069932845572e-09,
3.118681673870334e-07, 3.4570957056390385e-10,
-3.036440640129871e-07 -1.3438803779469233e-10
], ],
[ [
6.358422974851689e-06, 7.53026534167568e-09,
-4.42300038474252e-06, -5.888003531138191e-09,
-4.234624944413562e-06, -5.815770856622249e-09,
3.1186816738703346e-07, 3.457095705639007e-10,
2.862874214018809e-06, 4.015498098287062e-09,
3.601866363327852e-06 4.351808075832758e-09
], ],
[ [
1.0788754679638462e-05, 1.2450714858253541e-08,
-1.9181520799013405e-06, -1.352811250918863e-09,
-1.2253759154226542e-05, -1.3726290750827138e-08,
-3.0364406401299863e-07, -1.3438803779471994e-10,
3.6018663633278545e-06, 4.351808075832763e-09,
1.615160848576946e-05 2.2800767090605303e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.3667642028343509, 0.012455087862190848,
0.23000088015077183, 0.00865859589782539,
0.42545526236590314 0.014311685831560112
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0015434112651656342, 5.7794523903952674e-05,
0.001692003018324379, 6.33679579778855e-05,
0.00401890637932379 0.00015099922877486924
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.006748912533574303, 0.00024428411078409196,
0.007725868343634181, 0.0002285529411788333,
0.007397731347808048 0.00026910378406871965
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
6.748912533574303, 0.24428411078409196,
7.725868343634182, 0.2285529411788333,
7.397731347808048 0.26910378406871965
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.4950206613769511, "roll": 0.016652729804608957,
"pitch": 0.3279056973051422, "pitch": 0.010828326359105016,
"yaw": 0.2131206805888579 "yaw": 0.008523918789196061
} }
} }
}, },
@@ -222,10 +219,10 @@
690.75 690.75
], ],
"projected_center_px": [ "projected_center_px": [
981.2843627929688, 983.9112548828125,
684.5106811523438 690.8365478515625
], ],
"reprojection_error_px": 6.908263437829121, "reprojection_error_px": 0.3496266366117685,
"confidence": 0.12146268776527554 "confidence": 0.12146268776527554
}, },
{ {
@@ -235,10 +232,10 @@
632.0 632.0
], ],
"projected_center_px": [ "projected_center_px": [
331.15069580078125, 324.11248779296875,
637.7987670898438 632.0796508789062
], ],
"reprojection_error_px": 9.206418967088428, "reprojection_error_px": 0.13783238399417774,
"confidence": 0.46829700346999537 "confidence": 0.46829700346999537
}, },
{ {
@@ -248,10 +245,10 @@
610.25 610.25
], ],
"projected_center_px": [ "projected_center_px": [
1179.2086181640625, 1183.8814697265625,
606.8020629882812 610.300048828125
], ],
"reprojection_error_px": 5.701966206192657, "reprojection_error_px": 0.14067399972668834,
"confidence": 0.4560525484643318 "confidence": 0.4560525484643318
}, },
{ {
@@ -261,10 +258,10 @@
599.0 599.0
], ],
"projected_center_px": [ "projected_center_px": [
815.020751953125, 814.2566528320312,
596.3807373046875 598.9811401367188
], ],
"reprojection_error_px": 2.811133511035042, "reprojection_error_px": 0.25734484769011495,
"confidence": 0.5734281513866332 "confidence": 0.5734281513866332
}, },
{ {
@@ -274,10 +271,10 @@
587.25 587.25
], ],
"projected_center_px": [ "projected_center_px": [
904.92529296875, 905.1769409179688,
584.64599609375 587.0193481445312
], ],
"reprojection_error_px": 2.624170535599477, "reprojection_error_px": 0.2419460846933177,
"confidence": 0.525542829627259 "confidence": 0.525542829627259
}, },
{ {
@@ -287,10 +284,10 @@
557.5 557.5
], ],
"projected_center_px": [ "projected_center_px": [
930.7962036132812, 931.0717163085938,
555.8448486328125 557.4616088867188
], ],
"reprojection_error_px": 1.6676507474715048, "reprojection_error_px": 0.08134559912673672,
"confidence": 0.5038606541951498 "confidence": 0.5038606541951498
}, },
{ {
@@ -300,10 +297,10 @@
560.25 560.25
], ],
"projected_center_px": [ "projected_center_px": [
1147.2882080078125, 1150.079833984375,
558.3479614257812 560.2962036132812
], ],
"reprojection_error_px": 3.5199378606449994, "reprojection_error_px": 0.1763271015865997,
"confidence": 0.43622925667631085 "confidence": 0.43622925667631085
}, },
{ {
@@ -313,10 +310,10 @@
514.75 514.75
], ],
"projected_center_px": [ "projected_center_px": [
129.98768615722656, 128.47219848632812,
514.7237548828125 514.6799926757812
], ],
"reprojection_error_px": 1.4879176417328084, "reprojection_error_px": 0.07532562383888124,
"confidence": 0.29844141482805986 "confidence": 0.29844141482805986
}, },
{ {
@@ -326,10 +323,10 @@
461.5 461.5
], ],
"projected_center_px": [ "projected_center_px": [
1217.2900390625, 1217.8155517578125,
461.2925720214844 461.4322814941406
], ],
"reprojection_error_px": 0.5045695495141949, "reprojection_error_px": 0.09424876120212329,
"confidence": 0.2521714913889437 "confidence": 0.2521714913889437
}, },
{ {
@@ -339,10 +336,10 @@
437.75 437.75
], ],
"projected_center_px": [ "projected_center_px": [
1173.5399169921875, 1173.1402587890625,
438.0331115722656 437.9232482910156
], ],
"reprojection_error_px": 0.4052209578856468, "reprojection_error_px": 0.20508072488135876,
"confidence": 0.31777455864589965 "confidence": 0.31777455864589965
}, },
{ {
@@ -352,10 +349,10 @@
347.0 347.0
], ],
"projected_center_px": [ "projected_center_px": [
1091.2442626953125, 1087.9361572265625,
354.3226623535156 347.0196838378906
], ],
"reprojection_error_px": 8.113646265856527, "reprojection_error_px": 0.18719499586139143,
"confidence": 0.3029173397022545 "confidence": 0.3029173397022545
}, },
{ {
@@ -365,10 +362,10 @@
415.5 415.5
], ],
"projected_center_px": [ "projected_center_px": [
54.10175704956055, 58.67189025878906,
416.18798828125 415.5655822753906
], ],
"reprojection_error_px": 4.4517265107177995, "reprojection_error_px": 0.18397634606650567,
"confidence": 0.1527342148240039 "confidence": 0.1527342148240039
}, },
{ {
@@ -378,10 +375,10 @@
383.0 383.0
], ],
"projected_center_px": [ "projected_center_px": [
133.5531005859375, 138.93443298339844,
383.4892272949219 383.04705810546875
], ],
"reprojection_error_px": 5.468825886148779, "reprojection_error_px": 0.08070625103632043,
"confidence": 0.19743498130596515 "confidence": 0.19743498130596515
}, },
{ {
@@ -391,10 +388,10 @@
301.0 301.0
], ],
"projected_center_px": [ "projected_center_px": [
1017.0421142578125, 1013.370361328125,
307.5049133300781 300.9601745605469
], ],
"reprojection_error_px": 7.6584975749189335, "reprojection_error_px": 0.3724964147453616,
"confidence": 0.2849187633475991 "confidence": 0.2849187633475991
}, },
{ {
@@ -404,10 +401,10 @@
262.0 262.0
], ],
"projected_center_px": [ "projected_center_px": [
1103.2645263671875, 1097.9564208984375,
267.52166748046875 261.8399658203125
], ],
"reprojection_error_px": 7.629157858877907, "reprojection_error_px": 0.16586161931334725,
"confidence": 0.24627951083020566 "confidence": 0.24627951083020566
}, },
{ {
@@ -417,10 +414,10 @@
300.75 300.75
], ],
"projected_center_px": [ "projected_center_px": [
654.464599609375, 655.5089721679688,
299.97552490234375 300.48992919921875
], ],
"reprojection_error_px": 1.500688455712431, "reprojection_error_px": 0.35458600823028125,
"confidence": 0.1970529186973567 "confidence": 0.1970529186973567
}, },
{ {
@@ -430,10 +427,10 @@
279.75 279.75
], ],
"projected_center_px": [ "projected_center_px": [
576.6786499023438, 579.1873168945312,
278.639404296875 279.58905029296875
], ],
"reprojection_error_px": 2.80093986735105, "reprojection_error_px": 0.17272515712730338,
"confidence": 0.1988568274481309 "confidence": 0.1988568274481309
}, },
{ {
@@ -443,10 +440,10 @@
278.75 278.75
], ],
"projected_center_px": [ "projected_center_px": [
510.1328430175781, 513.7523193359375,
278.02996826171875 279.0245666503906
], ],
"reprojection_error_px": 3.9336177789442863, "reprojection_error_px": 0.3697736562509134,
"confidence": 0.17646704338372862 "confidence": 0.17646704338372862
}, },
{ {
@@ -456,10 +453,10 @@
154.5 154.5
], ],
"projected_center_px": [ "projected_center_px": [
1111.6312255859375, 1104.2423095703125,
150.52688598632812 154.7158966064453
], ],
"reprojection_error_px": 8.38260855081127, "reprojection_error_px": 0.2160335330067546,
"confidence": 0.15396639291733288 "confidence": 0.15396639291733288
} }
] ]

319
data/evaluations/Scene9/render_b_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:22Z", "created_utc": "2026-06-01T19:31:49Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_b.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_b.png",
"image_sha256": "568c1517f3d5b2281813b7ce6923a00a468d9b99448ed9e25967f426d8805035", "image_sha256": "48595f228e2f117251ebd8b9ca65d69583997da7f10da700ef392c8b23388302",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 43, "num_detected_markers": 44,
"num_rejected_candidates": 11 "num_rejected_candidates": 12
}, },
"detections": [ "detections": [
{ {
"observation_id": "c78e63e3-caad-4650-97c4-6d953036f7ab", "observation_id": "522bdd9a-9071-4e33-b3fb-b1490bc6f3fd",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.7925285650886857 "confidence": 0.7925285650886857
}, },
{ {
"observation_id": "1bbceeb3-7583-4585-a24f-0bdc472825ff", "observation_id": "01beb2e5-9c64-49bf-9e86-c40e2b8b75e6",
"type": "aruco", "type": "aruco",
"marker_id": 63, "marker_id": 63,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 856.0, "area_px": 856.0,
"perimeter_px": 118.77051544189453, "perimeter_px": 118.77051544189453,
"sharpness": { "sharpness": {
"laplacian_var": 2510.0696267334406 "laplacian_var": 2510.105457352333
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 163.35000000000002, "p95": 163.35000000000002,
"dynamic_range": 155.35000000000002, "dynamic_range": 155.35000000000002,
"mean_gray": 46.51791530944625, "mean_gray": 46.51954397394137,
"std_gray": 60.64433214292356 "std_gray": 60.643311103129896
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.9324730634689331, "distance_to_center_norm": 0.9324730634689331,
@@ -154,7 +154,7 @@
"confidence": 0.1539593300495616 "confidence": 0.1539593300495616
}, },
{ {
"observation_id": "ccaf4f90-f7bc-42df-86b1-6c1fa3deb7b7", "observation_id": "37c296b7-1d41-40ab-bcfd-785da8eaa730",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 850.5, "area_px": 850.5,
"perimeter_px": 117.09248542785645, "perimeter_px": 117.09248542785645,
"sharpness": { "sharpness": {
"laplacian_var": 3020.161253731177 "laplacian_var": 3020.4483989732466
}, },
"contrast": { "contrast": {
"p05": 14.0, "p05": 14.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 167.0, "dynamic_range": 167.0,
"mean_gray": 64.72954924874792, "mean_gray": 64.72787979966611,
"std_gray": 70.24453099842822 "std_gray": 70.24237367224117
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31911706924438477, "distance_to_center_norm": 0.31911706924438477,
@@ -208,7 +208,7 @@
"confidence": 0.4787342723608016 "confidence": 0.4787342723608016
}, },
{ {
"observation_id": "44ddd894-bd0d-4b7a-92e4-860d5d3deee9", "observation_id": "2597f8ae-39a9-4e97-a082-f8661b6230f1",
"type": "aruco", "type": "aruco",
"marker_id": 102, "marker_id": 102,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 823.5, "area_px": 823.5,
"perimeter_px": 115.75374794006348, "perimeter_px": 115.75374794006348,
"sharpness": { "sharpness": {
"laplacian_var": 3068.437601757558 "laplacian_var": 3067.4495268001474
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 93.33560477001704, "mean_gray": 93.34241908006814,
"std_gray": 69.6369128781312 "std_gray": 69.63832304900947
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7275234460830688, "distance_to_center_norm": 0.7275234460830688,
@@ -262,7 +262,7 @@
"confidence": 0.39637168760361213 "confidence": 0.39637168760361213
}, },
{ {
"observation_id": "e7834e37-252d-441c-b9c0-9f8cb72c7ff2", "observation_id": "d5fdb84b-a907-4f71-b574-2a3ae1112404",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 819.5, "area_px": 819.5,
"perimeter_px": 115.6167049407959, "perimeter_px": 115.6167049407959,
"sharpness": { "sharpness": {
"laplacian_var": 3118.9964697879527 "laplacian_var": 3118.427976637268
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 166.0, "dynamic_range": 166.0,
"mean_gray": 73.7568493150685, "mean_gray": 73.75856164383562,
"std_gray": 71.36479544165562 "std_gray": 71.36733257993441
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6832876801490784, "distance_to_center_norm": 0.6832876801490784,
@@ -316,7 +316,7 @@
"confidence": 0.4633649853376546 "confidence": 0.4633649853376546
}, },
{ {
"observation_id": "8c74ab86-3679-4555-bb0b-44c6cb87461b", "observation_id": "fc6288c8-f9e7-42c9-968b-b519bb0992ad",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 820.0, "area_px": 820.0,
"perimeter_px": 115.4936294555664, "perimeter_px": 115.4936294555664,
"sharpness": { "sharpness": {
"laplacian_var": 3344.2153312066052 "laplacian_var": 3341.321495590167
}, },
"contrast": { "contrast": {
"p05": 17.0, "p05": 17.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 164.0, "dynamic_range": 164.0,
"mean_gray": 76.4263698630137, "mean_gray": 76.40582191780823,
"std_gray": 70.993353368034 "std_gray": 70.9886738530897
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6174793243408203, "distance_to_center_norm": 0.6174793243408203,
@@ -370,7 +370,7 @@
"confidence": 0.3638956157928849 "confidence": 0.3638956157928849
}, },
{ {
"observation_id": "e4542236-25af-4e65-be63-85e78ee7acd9", "observation_id": "97a3c472-5aeb-4f63-87ef-de24238d3691",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 775.0, "area_px": 775.0,
"perimeter_px": 115.39799880981445, "perimeter_px": 115.39799880981445,
"sharpness": { "sharpness": {
"laplacian_var": 2028.6156649107584 "laplacian_var": 2030.046404948709
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 166.0, "p95": 166.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 56.27324478178368, "mean_gray": 56.27324478178368,
"std_gray": 58.54022203027371 "std_gray": 58.54171306349663
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.09534377604722977, "distance_to_center_norm": 0.09534377604722977,
@@ -424,7 +424,7 @@
"confidence": 0.33787297122479 "confidence": 0.33787297122479
}, },
{ {
"observation_id": "a1f6675f-9f20-41ab-ae0e-c59d83bd42af", "observation_id": "3a16cc10-0e2c-4d48-a8fc-48f574c05c68",
"type": "aruco", "type": "aruco",
"marker_id": 92, "marker_id": 92,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
"confidence": 0.46896024883690896 "confidence": 0.46896024883690896
}, },
{ {
"observation_id": "84a1bfed-885f-4b52-859f-3f8d5e86bcb1", "observation_id": "eaa4c82b-3ee4-4721-a637-3f55159dfa05",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +508,14 @@
"area_px": 793.0, "area_px": 793.0,
"perimeter_px": 113.09603309631348, "perimeter_px": 113.09603309631348,
"sharpness": { "sharpness": {
"laplacian_var": 2691.8984624476916 "laplacian_var": 2692.3726157453743
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 174.0, "p95": 174.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 82.48306595365419, "mean_gray": 82.47058823529412,
"std_gray": 73.17152082688077 "std_gray": 73.1507096243694
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3796437680721283, "distance_to_center_norm": 0.3796437680721283,
@@ -532,7 +532,7 @@
"confidence": 0.44372569385651617 "confidence": 0.44372569385651617
}, },
{ {
"observation_id": "b0ae235c-38bf-4950-8cc1-dd40370935c1", "observation_id": "d9f6ab66-9d90-44c9-b6ce-be20de07fe90",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 780.0, "area_px": 780.0,
"perimeter_px": 112.15361785888672, "perimeter_px": 112.15361785888672,
"sharpness": { "sharpness": {
"laplacian_var": 3213.1411603305787 "laplacian_var": 3213.3631867768595
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 114.31818181818181, "mean_gray": 114.29818181818182,
"std_gray": 72.21023999635078 "std_gray": 72.19976200139341
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5115378499031067, "distance_to_center_norm": 0.5115378499031067,
@@ -586,7 +586,7 @@
"confidence": 0.45199802144368495 "confidence": 0.45199802144368495
}, },
{ {
"observation_id": "03a035ff-f9a8-4ebf-b2aa-d284dd5cace6", "observation_id": "4957b962-9689-473c-b4f1-ff8f282b9946",
"type": "aruco", "type": "aruco",
"marker_id": 62, "marker_id": 62,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 767.0, "area_px": 767.0,
"perimeter_px": 111.09603309631348, "perimeter_px": 111.09603309631348,
"sharpness": { "sharpness": {
"laplacian_var": 2064.978862113238 "laplacian_var": 2066.411144116949
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 172.0, "p95": 172.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 39.539888682745826, "mean_gray": 39.53617810760668,
"std_gray": 53.834383085663326 "std_gray": 53.84082987860157
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.38394394516944885, "distance_to_center_norm": 0.38394394516944885,
@@ -640,7 +640,7 @@
"confidence": 0.44348322079976393 "confidence": 0.44348322079976393
}, },
{ {
"observation_id": "b30718cb-749b-47ca-8d8a-bff1e0a74848", "observation_id": "c5da39f6-dc0e-4952-b6b5-3bae49ae7748",
"type": "aruco", "type": "aruco",
"marker_id": 51, "marker_id": 51,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +670,14 @@
"area_px": 767.0, "area_px": 767.0,
"perimeter_px": 111.09603309631348, "perimeter_px": 111.09603309631348,
"sharpness": { "sharpness": {
"laplacian_var": 3683.7976462975134 "laplacian_var": 3687.600607185023
}, },
"contrast": { "contrast": {
"p05": 17.0, "p05": 17.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 76.84786641929499, "mean_gray": 76.78849721706865,
"std_gray": 70.00060329777635 "std_gray": 70.0189993919454
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4236999452114105, "distance_to_center_norm": 0.4236999452114105,
@@ -694,7 +694,7 @@
"confidence": 0.44348322079976393 "confidence": 0.44348322079976393
}, },
{ {
"observation_id": "35ab7717-b6a7-427a-9786-a201208573a9", "observation_id": "2597babb-7e75-4619-9eab-49c9c5f769a2",
"type": "aruco", "type": "aruco",
"marker_id": 42, "marker_id": 42,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 644.0, "area_px": 644.0,
"perimeter_px": 110.04388618469238, "perimeter_px": 110.04388618469238,
"sharpness": { "sharpness": {
"laplacian_var": 3798.706947768898 "laplacian_var": 3800.8725528644395
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 190.0, "p95": 190.0,
"dynamic_range": 171.0, "dynamic_range": 171.0,
"mean_gray": 75.27813163481953, "mean_gray": 75.28025477707007,
"std_gray": 71.48198538898035 "std_gray": 71.48457595530982
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2873735725879669, "distance_to_center_norm": 0.2873735725879669,
@@ -748,7 +748,7 @@
"confidence": 0.24113570084112637 "confidence": 0.24113570084112637
}, },
{ {
"observation_id": "b67c9edd-1ea1-4d69-a7fd-d3fe404dec6a", "observation_id": "68fe9098-45aa-4251-ab30-2a5d1e19fb35",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +778,14 @@
"area_px": 752.5, "area_px": 752.5,
"perimeter_px": 110.03665542602539, "perimeter_px": 110.03665542602539,
"sharpness": { "sharpness": {
"laplacian_var": 4326.625782534791 "laplacian_var": 4331.039762441095
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 175.0, "p95": 174.0,
"dynamic_range": 163.0, "dynamic_range": 162.0,
"mean_gray": 93.38289962825279, "mean_gray": 93.27881040892193,
"std_gray": 70.36858778062124 "std_gray": 70.34701794604273
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3251786530017853, "distance_to_center_norm": 0.3251786530017853,
@@ -802,7 +802,7 @@
"confidence": 0.41815762699787656 "confidence": 0.41815762699787656
}, },
{ {
"observation_id": "f3ab75a9-e24a-4ff4-9534-fdf5d2c4fe53", "observation_id": "ac028b5c-cbdb-43bb-ae95-49c6d8ab0f2b",
"type": "aruco", "type": "aruco",
"marker_id": 205, "marker_id": 205,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 720.0, "area_px": 720.0,
"perimeter_px": 109.47726821899414, "perimeter_px": 109.47726821899414,
"sharpness": { "sharpness": {
"laplacian_var": 3340.787244 "laplacian_var": 3341.655244
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 163.0, "p95": 163.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 71.462, "mean_gray": 71.464,
"std_gray": 65.93688312318076 "std_gray": 65.93867381135293
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7617100477218628, "distance_to_center_norm": 0.7617100477218628,
@@ -856,7 +856,7 @@
"confidence": 0.3958181457519531 "confidence": 0.3958181457519531
}, },
{ {
"observation_id": "5f7c5a31-c8e7-4a87-81b8-f1fa2218786a", "observation_id": "a22dcb17-7961-4007-9865-b29213ac7ee3",
"type": "aruco", "type": "aruco",
"marker_id": 198, "marker_id": 198,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.3918555899450243 "confidence": 0.3918555899450243
}, },
{ {
"observation_id": "d8854b7d-9151-46d1-82e6-f58f2a5b1a0c", "observation_id": "3c10c448-613d-4cc2-8fd0-dca44dc63770",
"type": "aruco", "type": "aruco",
"marker_id": 217, "marker_id": 217,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 713.0, "area_px": 713.0,
"perimeter_px": 108.02763557434082, "perimeter_px": 108.02763557434082,
"sharpness": { "sharpness": {
"laplacian_var": 3238.8223909587105 "laplacian_var": 3239.3608524971723
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 166.0, "p95": 166.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 65.9089068825911, "mean_gray": 65.90688259109312,
"std_gray": 65.98157792233286 "std_gray": 65.98330847391902
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6017478704452515, "distance_to_center_norm": 0.6017478704452515,
@@ -964,7 +964,7 @@
"confidence": 0.4015868133874269 "confidence": 0.4015868133874269
}, },
{ {
"observation_id": "5ee65273-d7d2-4b06-be24-fa05dd7e6c79", "observation_id": "7eab9e7e-8d24-433f-9d54-6f8f8bea7df2",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 708.0, "area_px": 708.0,
"perimeter_px": 107.02082443237305, "perimeter_px": 107.02082443237305,
"sharpness": { "sharpness": {
"laplacian_var": 2048.89 "laplacian_var": 2046.862784
}, },
"contrast": { "contrast": {
"p05": 6.950000000000003, "p05": 6.0,
"p95": 145.0, "p95": 145.0,
"dynamic_range": 138.05, "dynamic_range": 139.0,
"mean_gray": 54.538, "mean_gray": 54.514,
"std_gray": 57.331497067493366 "std_gray": 57.331089332054376
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.21091137826442719, "distance_to_center_norm": 0.21091137826442719,
@@ -1018,7 +1018,7 @@
"confidence": 0.3776 "confidence": 0.3776
}, },
{ {
"observation_id": "e7095cb9-07de-41f4-84af-f772a83a6686", "observation_id": "18589f9f-2bf1-461b-a484-3e054e0374bc",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 651.0, "area_px": 651.0,
"perimeter_px": 103.4156665802002, "perimeter_px": 103.4156665802002,
"sharpness": { "sharpness": {
"laplacian_var": 3431.610443874873 "laplacian_var": 3432.1838073060244
}, },
"contrast": { "contrast": {
"p05": 15.100000000000001, "p05": 15.100000000000001,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 165.9, "dynamic_range": 165.9,
"mean_gray": 80.16027088036117, "mean_gray": 80.15801354401806,
"std_gray": 69.74092043896324 "std_gray": 69.74291616013058
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.48814597725868225, "distance_to_center_norm": 0.48814597725868225,
@@ -1072,7 +1072,7 @@
"confidence": 0.3320910299473707 "confidence": 0.3320910299473707
}, },
{ {
"observation_id": "c2de495a-74a8-4acb-b33f-d0c7df3ace75", "observation_id": "9e8f729f-632e-45eb-a40a-0d03e808ec6b",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 655.5, "area_px": 655.5,
"perimeter_px": 103.021728515625, "perimeter_px": 103.021728515625,
"sharpness": { "sharpness": {
"laplacian_var": 1947.4648823886976 "laplacian_var": 1943.6184494096408
}, },
"contrast": { "contrast": {
"p05": 6.0, "p05": 6.0,
"p95": 142.0, "p95": 142.0,
"dynamic_range": 136.0, "dynamic_range": 136.0,
"mean_gray": 69.20171673819742, "mean_gray": 69.1716738197425,
"std_gray": 58.61387139406158 "std_gray": 58.5903847832033
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.11143215000629425, "distance_to_center_norm": 0.11143215000629425,
@@ -1126,7 +1126,7 @@
"confidence": 0.3465862068965517 "confidence": 0.3465862068965517
}, },
{ {
"observation_id": "771ab1ef-09b2-4c1f-b8b6-81ebb9ddf83c", "observation_id": "ca44becc-afbe-447e-b3c1-c9aa3a3c2759",
"type": "aruco", "type": "aruco",
"marker_id": 206, "marker_id": 206,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.3579602826436361 "confidence": 0.3579602826436361
}, },
{ {
"observation_id": "fe84711c-552f-471a-ba9e-61e529b48828", "observation_id": "3abdcd40-500b-41b4-8c91-2485d69a35e6",
"type": "aruco", "type": "aruco",
"marker_id": 207, "marker_id": 207,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 633.0, "area_px": 633.0,
"perimeter_px": 102.5910873413086, "perimeter_px": 102.5910873413086,
"sharpness": { "sharpness": {
"laplacian_var": 2925.664248727186 "laplacian_var": 2928.0651811281186
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 162.0, "p95": 162.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 66.4918414918415, "mean_gray": 66.48717948717949,
"std_gray": 64.94141561881966 "std_gray": 64.9448605912703
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7160782814025879, "distance_to_center_norm": 0.7160782814025879,
@@ -1234,7 +1234,61 @@
"confidence": 0.343462485354258 "confidence": 0.343462485354258
}, },
{ {
"observation_id": "f9b1e73d-de29-4435-bebd-aeb7ba101800", "observation_id": "9d0ebea8-73b6-4696-a4d6-30020a5e61da",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
541.0,
556.0
],
[
542.0,
574.0
],
[
510.0,
574.0
],
[
509.0,
556.0
]
],
"center_px": [
525.5,
565.0
],
"quality": {
"area_px": 576.0,
"perimeter_px": 100.05551147460938,
"sharpness": {
"laplacian_var": 4034.890480538091
},
"contrast": {
"p05": 26.0,
"p95": 178.0,
"dynamic_range": 152.0,
"mean_gray": 93.29567307692308,
"std_gray": 66.76895136134101
},
"geometry": {
"distance_to_center_norm": 0.31977149844169617,
"distance_to_border_px": 146.0
},
"edge_ratio": 1.7750406909376224,
"edge_lengths_px": [
18.027755737304688,
32.0,
18.027755737304688,
32.0
]
},
"confidence": 0.21633306884765627
},
{
"observation_id": "141efd7b-5c73-4127-a984-fcc722aaa7e8",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1264,14 +1318,14 @@
"area_px": 567.0, "area_px": 567.0,
"perimeter_px": 99.02775573730469, "perimeter_px": 99.02775573730469,
"sharpness": { "sharpness": {
"laplacian_var": 3253.121683967705 "laplacian_var": 3278.8644691945406
}, },
"contrast": { "contrast": {
"p05": 24.0, "p05": 24.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 85.96078431372548, "mean_gray": 85.8529411764706,
"std_gray": 67.36070181051011 "std_gray": 67.40260177948325
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.29147303104400635, "distance_to_center_norm": 0.29147303104400635,
@@ -1288,7 +1342,7 @@
"confidence": 0.212625 "confidence": 0.212625
}, },
{ {
"observation_id": "9478d653-33c8-4c62-8e5d-fdaae66be786", "observation_id": "eb460807-35a7-42e9-ab23-89edfcc56587",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1318,14 +1372,14 @@
"area_px": 489.5, "area_px": 489.5,
"perimeter_px": 94.42769050598145, "perimeter_px": 94.42769050598145,
"sharpness": { "sharpness": {
"laplacian_var": 2632.4304172778625 "laplacian_var": 2630.949314940233
}, },
"contrast": { "contrast": {
"p05": 28.0, "p05": 28.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 80.28491620111731, "mean_gray": 80.22905027932961,
"std_gray": 63.10921938482279 "std_gray": 63.11944909776458
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3777081370353699, "distance_to_center_norm": 0.3777081370353699,
@@ -1342,7 +1396,7 @@
"confidence": 0.15432248002290727 "confidence": 0.15432248002290727
}, },
{ {
"observation_id": "a5a23764-c387-426a-ac12-26ee308c9b65", "observation_id": "835810e7-df5b-47b8-a765-f9380200dea9",
"type": "aruco", "type": "aruco",
"marker_id": 94, "marker_id": 94,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1396,7 +1450,7 @@
"confidence": 0.06057156860351561 "confidence": 0.06057156860351561
}, },
{ {
"observation_id": "c43a6058-aa64-417b-8316-c9852e42cf81", "observation_id": "76f015a8-ee35-4231-a91d-b2616820f88e",
"type": "aruco", "type": "aruco",
"marker_id": 76, "marker_id": 76,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1450,7 +1504,7 @@
"confidence": 0.2459421895345052 "confidence": 0.2459421895345052
}, },
{ {
"observation_id": "3a8791f0-5b36-47fb-a924-9d9e79befae7", "observation_id": "160f950b-c25e-4e35-9e6b-65b41afbc887",
"type": "aruco", "type": "aruco",
"marker_id": 100, "marker_id": 100,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1504,7 +1558,7 @@
"confidence": 0.24407473894265982 "confidence": 0.24407473894265982
}, },
{ {
"observation_id": "7458d560-f629-4981-bde1-e36648a0a966", "observation_id": "f3dab172-aad8-4452-86e0-9f2be218512b",
"type": "aruco", "type": "aruco",
"marker_id": 75, "marker_id": 75,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1558,7 +1612,7 @@
"confidence": 0.23896265492072474 "confidence": 0.23896265492072474
}, },
{ {
"observation_id": "ac6fa9f7-4ff5-4c4c-8edd-49e1282ceced", "observation_id": "da2fa795-d972-4ba2-9008-70d663559bb8",
"type": "aruco", "type": "aruco",
"marker_id": 68, "marker_id": 68,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1612,7 +1666,7 @@
"confidence": 0.24909137483284013 "confidence": 0.24909137483284013
}, },
{ {
"observation_id": "a7b159a9-bd34-4e86-a261-401ad41c902d", "observation_id": "21ce63dc-db84-4e1c-8f3f-836403017fa3",
"type": "aruco", "type": "aruco",
"marker_id": 46, "marker_id": 46,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1666,7 +1720,7 @@
"confidence": 0.23734254719660833 "confidence": 0.23734254719660833
}, },
{ {
"observation_id": "6452eb7d-45e7-4d15-9709-322becfff4f6", "observation_id": "d740d95b-9671-4759-9289-4873f7e4b557",
"type": "aruco", "type": "aruco",
"marker_id": 50, "marker_id": 50,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1720,7 +1774,7 @@
"confidence": 0.2211554500544793 "confidence": 0.2211554500544793
}, },
{ {
"observation_id": "2f94e32e-e2ea-48bc-964b-98617cb16656", "observation_id": "92df77e3-fede-4a29-a2c3-3c3761995209",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1750,14 +1804,14 @@
"area_px": 472.5, "area_px": 472.5,
"perimeter_px": 88.1527214050293, "perimeter_px": 88.1527214050293,
"sharpness": { "sharpness": {
"laplacian_var": 2263.0568148828156 "laplacian_var": 2263.6618568996223
}, },
"contrast": { "contrast": {
"p05": 7.0, "p05": 7.0,
"p95": 156.0, "p95": 156.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 54.857142857142854, "mean_gray": 54.85434173669468,
"std_gray": 59.11370883499775 "std_gray": 59.11277797875015
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.22615359723567963, "distance_to_center_norm": 0.22615359723567963,
@@ -1774,7 +1828,7 @@
"confidence": 0.21841319450965294 "confidence": 0.21841319450965294
}, },
{ {
"observation_id": "a58f4696-c341-42ea-a855-14dac03148c9", "observation_id": "4386215c-7005-4ef1-9a61-70b754417bd7",
"type": "aruco", "type": "aruco",
"marker_id": 104, "marker_id": 104,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1828,7 +1882,7 @@
"confidence": 0.22417849731445313 "confidence": 0.22417849731445313
}, },
{ {
"observation_id": "e99bbb66-100f-4885-99b8-f44b41a7aa6f", "observation_id": "85a82c1b-c95d-4f10-8c07-173e4da47cbb",
"type": "aruco", "type": "aruco",
"marker_id": 53, "marker_id": 53,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1882,7 +1936,7 @@
"confidence": 0.22367025973033955 "confidence": 0.22367025973033955
}, },
{ {
"observation_id": "613cd1a1-71e6-425b-bc59-7d06e24ba992", "observation_id": "9be7c13c-664b-469f-b022-08b907a7ed76",
"type": "aruco", "type": "aruco",
"marker_id": 60, "marker_id": 60,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1912,14 +1966,14 @@
"area_px": 438.0, "area_px": 438.0,
"perimeter_px": 85.07713508605957, "perimeter_px": 85.07713508605957,
"sharpness": { "sharpness": {
"laplacian_var": 1901.0565414580901 "laplacian_var": 1900.4491794949
}, },
"contrast": { "contrast": {
"p05": 7.0, "p05": 7.0,
"p95": 157.0, "p95": 157.0,
"dynamic_range": 150.0, "dynamic_range": 150.0,
"mean_gray": 93.65950920245399, "mean_gray": 93.65644171779141,
"std_gray": 61.815508346625734 "std_gray": 61.81487108071269
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.27946722507476807, "distance_to_center_norm": 0.27946722507476807,
@@ -1936,7 +1990,7 @@
"confidence": 0.19874429613402733 "confidence": 0.19874429613402733
}, },
{ {
"observation_id": "a6991594-f31a-4413-b924-3da488f47feb", "observation_id": "ebdb2efd-9ea6-4b4c-8745-6d265f2c796f",
"type": "aruco", "type": "aruco",
"marker_id": 67, "marker_id": 67,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1990,7 +2044,7 @@
"confidence": 0.19627771759033205 "confidence": 0.19627771759033205
}, },
{ {
"observation_id": "66edebca-c6fa-44dd-b8a1-71e17f61d3c5", "observation_id": "1bda7b8f-4558-4379-9fc3-c1c4057d3d12",
"type": "aruco", "type": "aruco",
"marker_id": 86, "marker_id": 86,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2044,7 +2098,7 @@
"confidence": 0.18966921411877496 "confidence": 0.18966921411877496
}, },
{ {
"observation_id": "b084b394-47d2-4149-8a84-b3fb160d8bcb", "observation_id": "e505fb91-db07-4894-906a-c0156a31f7bb",
"type": "aruco", "type": "aruco",
"marker_id": 88, "marker_id": 88,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2098,7 +2152,7 @@
"confidence": 0.17697203515072252 "confidence": 0.17697203515072252
}, },
{ {
"observation_id": "b126f36f-0cc9-405c-95ae-755ad7b1e5ca", "observation_id": "40bbb878-ffce-4348-9aa0-da2fb8e05a66",
"type": "aruco", "type": "aruco",
"marker_id": 70, "marker_id": 70,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2152,7 +2206,7 @@
"confidence": 0.193995418548584 "confidence": 0.193995418548584
}, },
{ {
"observation_id": "e854fdee-0c99-4c89-9985-50c3b8723b5b", "observation_id": "36707540-0e15-4dcf-915f-5d2e60104c47",
"type": "aruco", "type": "aruco",
"marker_id": 90, "marker_id": 90,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2182,14 +2236,14 @@
"area_px": 397.5, "area_px": 397.5,
"perimeter_px": 81.56232070922852, "perimeter_px": 81.56232070922852,
"sharpness": { "sharpness": {
"laplacian_var": 2046.7675629716232 "laplacian_var": 2046.70570730152
}, },
"contrast": { "contrast": {
"p05": 7.0, "p05": 7.0,
"p95": 155.0, "p95": 155.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 77.9553264604811, "mean_gray": 77.95876288659794,
"std_gray": 60.68448114384391 "std_gray": 60.68422875087157
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5281360745429993, "distance_to_center_norm": 0.5281360745429993,
@@ -2206,7 +2260,7 @@
"confidence": 0.17958947754575058 "confidence": 0.17958947754575058
}, },
{ {
"observation_id": "2f854f7f-273b-41cd-ba76-d324ea923a09", "observation_id": "7a41aa8e-f7c9-47ab-a0c6-b850c852b67b",
"type": "aruco", "type": "aruco",
"marker_id": 83, "marker_id": 83,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2260,7 +2314,7 @@
"confidence": 0.17676838843571283 "confidence": 0.17676838843571283
}, },
{ {
"observation_id": "ce0ab490-eb43-4db8-ab4b-0416e44b6ed2", "observation_id": "9068aa4e-1ac8-47c3-a5df-7a4ff113c286",
"type": "aruco", "type": "aruco",
"marker_id": 61, "marker_id": 61,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2314,7 +2368,7 @@
"confidence": 0.1668050360320266 "confidence": 0.1668050360320266
}, },
{ {
"observation_id": "4c417fee-edbb-43b8-801a-88cd9ecb16fe", "observation_id": "6656cff2-9404-4880-b4b8-020aad799274",
"type": "aruco", "type": "aruco",
"marker_id": 91, "marker_id": 91,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -2519,6 +2573,31 @@
], ],
"area_px": 270.0 "area_px": 270.0
}, },
{
"image_points_px": [
[
564.0,
579.0
],
[
542.0,
584.0
],
[
536.0,
577.0
],
[
561.0,
576.0
]
],
"center_px": [
550.75,
579.0
],
"area_px": 131.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [

396
data/evaluations/Scene9/render_b_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z", "created_utc": "2026-06-01T19:31:54Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_b_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -80,156 +80,150 @@
0, 0,
1, 1,
2, 2,
3, 3
4,
5
], ],
"rms": [ "rms": [
0.018586687295892478, 0.009770904610742407,
0.004524773188371243, 0.0005557932506905666,
0.004401379732697687, 0.00010407952417825743,
0.004400889630930333, 0.00010405845495287234
0.004400885875121036,
0.004400885841339656
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125
6.25e-05,
3.125e-05
] ]
}, },
"residual_rms_px": 10.292890093493769, "residual_rms_px": 0.26162347400718944,
"residual_median_px": 7.4678436874840095, "residual_median_px": 0.19543271642590312,
"residual_max_px": 24.31129229011066, "residual_max_px": 0.5142868307990927,
"sigma2_normalized": 2.1128504929624298e-05 "sigma2_normalized": 1.181254041324392e-08
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.9994555115699768, 0.999923050403595,
-0.02737392485141754, -0.01239904947578907,
0.018421687185764313 0.00034589259303174913
], ],
[ [
-0.016220903024077415, -0.009447838179767132,
-0.8938210010528564, -0.7793982625007629,
-0.44813042879104614 -0.6264575719833374
], ],
[ [
0.028732780367136, 0.008037067018449306,
0.44758760929107666, 0.6264061331748962,
-0.893778383731842 -0.7794554233551025
] ]
], ],
"translation_m": [ "translation_m": [
-0.31198850274086, -0.31134694814682007,
0.07340206205844879, 0.05269560590386391,
1.470489501953125 1.4960466623306274
], ],
"rvec_rad": [ "rvec_rad": [
2.676766457100025, 2.4645549055471876,
-0.030813699542104743, -0.015129595781071595,
0.03332972568205707 0.005805439556216878
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.2707580327987671, 0.299796998500824,
-0.6011049747467041, -0.8999223113059998,
1.3529328107833862 1.199220895767212
], ],
"position_mm": [ "position_mm": [
270.7580261230469, 299.7969970703125,
-601.10498046875, -899.9223022460938,
1352.932861328125 1199.220947265625
], ],
"orientation_deg": { "orientation_deg": {
"roll": 153.3991241455078, "roll": 141.21302795410156,
"pitch": -1.6464935541152954, "pitch": -0.4604949653148651,
"yaw": -0.9298138618469238 "yaw": -0.5413467884063721
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
0.00018657518370904268, 5.942548118985504e-08,
3.2614109577068e-07, 1.740518718497372e-09,
1.602449603391029e-05, 5.925191386549445e-09,
3.6495787472589852e-06, 1.5983183447919768e-09,
1.1980728245686841e-05, 2.5144002180118628e-09,
4.131249908075356e-05 1.5878427638483482e-08
], ],
[ [
3.261410957703507e-07, 1.7405187184973633e-09,
2.372399124672742e-05, 1.3354161848474976e-08,
-9.93790439358011e-06, -6.855592471955503e-09,
-1.6114706168064627e-06, -8.072628050513177e-10,
-6.845548839083708e-06, -3.451327022769324e-09,
5.391364200550181e-06 4.779839212294198e-09
], ],
[ [
1.6024496033910718e-05, 5.925191386549676e-09,
-9.937904393580179e-06, -6.855592471955499e-09,
0.0003263354532916631, 1.0368504227021555e-07,
2.012545236972588e-05, 5.966148500610053e-09,
-2.26070059708291e-05, -1.011935122178965e-08,
-0.00011959367220891756 -4.047425806219628e-08
], ],
[ [
3.6495787472590136e-06, 1.598318344791985e-09,
-1.611470616806491e-06, -8.072628050513564e-10,
2.0125452369725986e-05, 5.966148500610096e-09,
2.944038178204139e-06, 1.3288974374740166e-09,
-7.915876131278405e-07, -3.108687425138542e-10,
-4.022481608715947e-06 -2.709273862178555e-10
], ],
[ [
1.198072824568691e-05, 2.514400218011829e-09,
-6.845548839083682e-06, -3.4513270227693294e-09,
-2.260700597082915e-05, -1.0119351221789652e-08,
-7.915876131278457e-07, -3.1086874251386367e-10,
6.3443530931111025e-06, 3.345854811832893e-09,
1.2047681591156984e-05 5.006445429176016e-09
], ],
[ [
4.131249908075341e-05, 1.587842763848343e-08,
5.391364200550281e-06, 4.779839212294195e-09,
-0.00011959367220891755, -4.04742580621962e-08,
-4.0224816087159735e-06, -2.709273862178758e-10,
1.2047681591156943e-05, 5.00644542917601e-09,
8.529746705107022e-05 3.9983851269468773e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.7826175297261447, 0.013967188228221154,
0.2790721575370424, 0.006621112241554149,
1.0350343464348573 0.01844933373230317
], ],
"tvec_std_m": [ "tvec_std_m": [
0.001715819972550774, 3.645404555702997e-05,
0.0025187999311400465, 5.784336445810265e-05,
0.00923566278352941 0.0001999596240981383
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.020458553874397604, 0.00037610398970986406,
0.01861041550873078, 0.0002781398888529384,
0.01216387062995681 0.00031334355455498624
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
20.458553874397605, 0.3761039897098641,
18.61041550873078, 0.2781398888529384,
12.16387062995681 0.31334355455498625
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 1.0421182767903001, "roll": 0.018598436113605673,
"pitch": 0.7383343261342494, "pitch": 0.013714811928094353,
"yaw": 0.2473240342127264 "yaw": 0.006045644801635408
} }
} }
}, },
@@ -242,10 +236,10 @@
678.75 678.75
], ],
"projected_center_px": [ "projected_center_px": [
1233.14697265625, 1245.984375,
661.9085693359375 678.5673217773438
], ],
"reprojection_error_px": 21.18570505580614, "reprojection_error_px": 0.18334523080202128,
"confidence": 0.1539593300495616 "confidence": 0.1539593300495616
}, },
{ {
@@ -255,10 +249,10 @@
665.5 665.5
], ],
"projected_center_px": [ "projected_center_px": [
1071.257080078125, 1078.4459228515625,
651.162353515625 665.2813110351562
], ],
"reprojection_error_px": 15.952085623662727, "reprojection_error_px": 0.29361646259842505,
"confidence": 0.39637168760361213 "confidence": 0.39637168760361213
}, },
{ {
@@ -268,10 +262,10 @@
635.25 635.25
], ],
"projected_center_px": [ "projected_center_px": [
225.70152282714844, 220.3571014404297,
630.446533203125 635.3291625976562
], ],
"reprojection_error_px": 7.080193005139538, "reprojection_error_px": 0.16336069048261112,
"confidence": 0.4633649853376546 "confidence": 0.4633649853376546
}, },
{ {
@@ -281,10 +275,10 @@
668.0 668.0
], ],
"projected_center_px": [ "projected_center_px": [
314.0374450683594, 307.1698303222656,
660.0361328125 668.0555419921875
], ],
"reprojection_error_px": 10.463870753030886, "reprojection_error_px": 0.09752994475641752,
"confidence": 0.3638956157928849 "confidence": 0.3638956157928849
}, },
{ {
@@ -294,10 +288,10 @@
622.75 622.75
], ],
"projected_center_px": [ "projected_center_px": [
1059.1376953125, 1064.5963134765625,
612.031005859375 622.5699462890625
], ],
"reprojection_error_px": 11.98545564208293, "reprojection_error_px": 0.20419506504790963,
"confidence": 0.46896024883690896 "confidence": 0.46896024883690896
}, },
{ {
@@ -307,10 +301,10 @@
628.0 628.0
], ],
"projected_center_px": [ "projected_center_px": [
717.737548828125, 716.8850708007812,
619.830322265625 628.1011962890625
], ],
"reprojection_error_px": 8.229148617656245, "reprojection_error_px": 0.16877443569364758,
"confidence": 0.44372569385651617 "confidence": 0.44372569385651617
}, },
{ {
@@ -320,10 +314,10 @@
633.0 633.0
], ],
"projected_center_px": [ "projected_center_px": [
386.3920593261719, 381.9161071777344,
627.0259399414062 633.0272827148438
], ],
"reprojection_error_px": 7.414821556065831, "reprojection_error_px": 0.08821764084885246,
"confidence": 0.45199802144368495 "confidence": 0.45199802144368495
}, },
{ {
@@ -333,10 +327,10 @@
615.0 615.0
], ],
"projected_center_px": [ "projected_center_px": [
760.47509765625, 760.312744140625,
607.4323120117188 615.0904541015625
], ],
"reprojection_error_px": 7.571034965103883, "reprojection_error_px": 0.1100852927154615,
"confidence": 0.44348322079976393 "confidence": 0.44348322079976393
}, },
{ {
@@ -346,10 +340,10 @@
615.0 615.0
], ],
"projected_center_px": [ "projected_center_px": [
464.9672546386719, 461.7844543457031,
609.5865478515625 614.947021484375
], ],
"reprojection_error_px": 6.297316219904975, "reprojection_error_px": 0.06319671712722756,
"confidence": 0.44348322079976393 "confidence": 0.44348322079976393
}, },
{ {
@@ -359,10 +353,10 @@
598.75 598.75
], ],
"projected_center_px": [ "projected_center_px": [
644.9561767578125, 643.6207275390625,
593.2598876953125 598.9168090820312
], ],
"reprojection_error_px": 5.621049322783795, "reprojection_error_px": 0.21103705599952288,
"confidence": 0.41815762699787656 "confidence": 0.41815762699787656
}, },
{ {
@@ -372,10 +366,10 @@
502.0 502.0
], ],
"projected_center_px": [ "projected_center_px": [
1178.9991455078125, 1180.801513671875,
506.276611328125 502.1367492675781
], ],
"reprojection_error_px": 4.72152762893049, "reprojection_error_px": 0.2410335757435026,
"confidence": 0.3958181457519531 "confidence": 0.3958181457519531
}, },
{ {
@@ -385,10 +379,10 @@
503.25 503.25
], ],
"projected_center_px": [ "projected_center_px": [
1057.4124755859375, 1058.0533447265625,
508.2463684082031 503.37847900390625
], ],
"reprojection_error_px": 5.030793397428453, "reprojection_error_px": 0.13911331459199042,
"confidence": 0.4015868133874269 "confidence": 0.4015868133874269
}, },
{ {
@@ -398,10 +392,10 @@
507.0 507.0
], ],
"projected_center_px": [ "projected_center_px": [
689.7410888671875, 688.9879150390625,
514.2028198242188 507.1119079589844
], ],
"reprojection_error_px": 7.2706857010065855, "reprojection_error_px": 0.26292005837546795,
"confidence": 0.3776 "confidence": 0.3776
}, },
{ {
@@ -411,10 +405,10 @@
441.75 441.75
], ],
"projected_center_px": [ "projected_center_px": [
285.5662536621094, 291.1419677734375,
453.19012451171875 441.380126953125
], ],
"reprojection_error_px": 12.664993016506877, "reprojection_error_px": 0.3961829369109645,
"confidence": 0.3320910299473707 "confidence": 0.3320910299473707
}, },
{ {
@@ -424,10 +418,10 @@
427.5 427.5
], ],
"projected_center_px": [ "projected_center_px": [
685.8961791992188, 686.1612548828125,
437.7833251953125 427.895263671875
], ],
"reprojection_error_px": 10.289410392807468, "reprojection_error_px": 0.40510377204949694,
"confidence": 0.3465862068965517 "confidence": 0.3465862068965517
}, },
{ {
@@ -437,10 +431,10 @@
424.5 424.5
], ],
"projected_center_px": [ "projected_center_px": [
1044.7210693359375, 1042.8582763671875,
432.414306640625 424.4147644042969
], ],
"reprojection_error_px": 8.099279551969133, "reprojection_error_px": 0.16538045492874576,
"confidence": 0.3579602826436361 "confidence": 0.3579602826436361
}, },
{ {
@@ -450,10 +444,10 @@
423.25 423.25
], ],
"projected_center_px": [ "projected_center_px": [
1163.405029296875, 1161.501708984375,
430.6384582519531 423.257080078125
], ],
"reprojection_error_px": 7.520865818902188, "reprojection_error_px": 0.4983413125146761,
"confidence": 0.343462485354258 "confidence": 0.343462485354258
}, },
{ {
@@ -463,10 +457,10 @@
279.5 279.5
], ],
"projected_center_px": [ "projected_center_px": [
1260.8394775390625, 1251.907470703125,
281.34625244140625 279.6442565917969
], ],
"reprojection_error_px": 9.030227640596275, "reprojection_error_px": 0.1713815481813375,
"confidence": 0.06057156860351561 "confidence": 0.06057156860351561
}, },
{ {
@@ -476,10 +470,10 @@
287.5 287.5
], ],
"projected_center_px": [ "projected_center_px": [
1051.4119873046875, 1046.1029052734375,
289.6189270019531 287.1553955078125
], ],
"reprojection_error_px": 5.812009826704075, "reprojection_error_px": 0.3596411424420896,
"confidence": 0.2459421895345052 "confidence": 0.2459421895345052
}, },
{ {
@@ -489,10 +483,10 @@
281.5 281.5
], ],
"projected_center_px": [ "projected_center_px": [
1181.211181640625, 1173.5185546875,
283.404541015625 281.41693115234375
], ],
"reprojection_error_px": 8.185822475183693, "reprojection_error_px": 0.281108615359188,
"confidence": 0.24407473894265982 "confidence": 0.24407473894265982
}, },
{ {
@@ -502,10 +496,10 @@
271.5 271.5
], ],
"projected_center_px": [ "projected_center_px": [
253.8015594482422, 271.7907409667969,
276.647705078125 271.4751892089844
], ],
"reprojection_error_px": 18.672048248955928, "reprojection_error_px": 0.047701171121525825,
"confidence": 0.23896265492072474 "confidence": 0.23896265492072474
}, },
{ {
@@ -515,10 +509,10 @@
285.25 285.25
], ],
"projected_center_px": [ "projected_center_px": [
926.9244995117188, 924.0093994140625,
288.0189208984375 285.10589599609375
], ],
"reprojection_error_px": 4.027358977772796, "reprojection_error_px": 0.14441022445287882,
"confidence": 0.24909137483284013 "confidence": 0.24909137483284013
}, },
{ {
@@ -528,10 +522,10 @@
273.5 273.5
], ],
"projected_center_px": [ "projected_center_px": [
884.1876220703125, 882.0733032226562,
276.38165283203125 273.3749084472656
], ],
"reprojection_error_px": 3.7743773528925697, "reprojection_error_px": 0.34665958856695955,
"confidence": 0.23734254719660833 "confidence": 0.23734254719660833
}, },
{ {
@@ -541,10 +535,10 @@
251.25 251.25
], ],
"projected_center_px": [ "projected_center_px": [
922.0274658203125, 918.6849975585938,
254.4427032470703 251.76016235351562
], ],
"reprojection_error_px": 4.57549300372867, "reprojection_error_px": 0.5142868307990927,
"confidence": 0.2211554500544793 "confidence": 0.2211554500544793
}, },
{ {
@@ -554,10 +548,10 @@
267.25 267.25
], ],
"projected_center_px": [ "projected_center_px": [
777.0671997070312, 777.6580200195312,
270.43988037109375 267.11578369140625
], ],
"reprojection_error_px": 3.262139332089819, "reprojection_error_px": 0.1627093552920801,
"confidence": 0.21841319450965294 "confidence": 0.21841319450965294
}, },
{ {
@@ -567,10 +561,10 @@
228.0 228.0
], ],
"projected_center_px": [ "projected_center_px": [
1194.67431640625, 1184.15673828125,
229.40283203125 227.8562469482422
], ],
"reprojection_error_px": 10.76610275116483, "reprojection_error_px": 0.2126777578847596,
"confidence": 0.22417849731445313 "confidence": 0.22417849731445313
}, },
{ {
@@ -580,10 +574,10 @@
252.25 252.25
], ],
"projected_center_px": [ "projected_center_px": [
825.8674926757812, 825.0927734375,
255.29368591308594 252.29660034179688
], ],
"reprojection_error_px": 3.0657910568515003, "reprojection_error_px": 0.4098842093337483,
"confidence": 0.22367025973033955 "confidence": 0.22367025973033955
}, },
{ {
@@ -593,10 +587,10 @@
197.25 197.25
], ],
"projected_center_px": [ "projected_center_px": [
763.8517456054688, 765.0194702148438,
199.3125457763672 197.24411010742188
], ],
"reprojection_error_px": 2.3606319565257206, "reprojection_error_px": 0.020341585499749886,
"confidence": 0.19874429613402733 "confidence": 0.19874429613402733
}, },
{ {
@@ -606,10 +600,10 @@
209.25 209.25
], ],
"projected_center_px": [ "projected_center_px": [
861.4623413085938, 859.3396606445312,
211.2976837158203 209.17727661132812
], ],
"reprojection_error_px": 3.0145418666434187, "reprojection_error_px": 0.11544575539048531,
"confidence": 0.19627771759033205 "confidence": 0.19627771759033205
}, },
{ {
@@ -619,10 +613,10 @@
192.0 192.0
], ],
"projected_center_px": [ "projected_center_px": [
685.8648681640625, 689.9830322265625,
193.8142852783203 191.71383666992188
], ],
"reprojection_error_px": 4.745630863192206, "reprojection_error_px": 0.39135820361349044,
"confidence": 0.18966921411877496 "confidence": 0.18966921411877496
}, },
{ {
@@ -632,10 +626,10 @@
170.0 170.0
], ],
"projected_center_px": [ "projected_center_px": [
1116.3076171875, 1105.278076171875,
170.71231079101562 170.22833251953125
], ],
"reprojection_error_px": 10.831065318542896, "reprojection_error_px": 0.3184115653759191,
"confidence": 0.17697203515072252 "confidence": 0.17697203515072252
}, },
{ {
@@ -645,10 +639,10 @@
183.5 183.5
], ],
"projected_center_px": [ "projected_center_px": [
943.200927734375, 938.05810546875,
184.5773468017578 183.32823181152344
], ],
"reprojection_error_px": 5.31133932539137, "reprojection_error_px": 0.1813299646257538,
"confidence": 0.193995418548584 "confidence": 0.193995418548584
}, },
{ {
@@ -658,10 +652,10 @@
170.75 170.75
], ],
"projected_center_px": [ "projected_center_px": [
985.5296020507812, 978.7138671875,
171.8170166015625 171.03016662597656
], ],
"reprojection_error_px": 7.1101216178317195, "reprojection_error_px": 0.35246632775380293,
"confidence": 0.17958947754575058 "confidence": 0.17958947754575058
}, },
{ {
@@ -671,10 +665,10 @@
159.75 159.75
], ],
"projected_center_px": [ "projected_center_px": [
340.492919921875, 361.12615966796875,
161.3194580078125 159.62738037109375
], ],
"reprojection_error_px": 20.56704966126445, "reprojection_error_px": 0.1759313366489657,
"confidence": 0.17676838843571283 "confidence": 0.17676838843571283
}, },
{ {
@@ -684,10 +678,10 @@
162.5 162.5
], ],
"projected_center_px": [ "projected_center_px": [
268.0343017578125, 292.22821044921875,
164.65380859375 162.68539428710938
], ],
"reprojection_error_px": 24.31129229011066, "reprojection_error_px": 0.18667036780389662,
"confidence": 0.1668050360320266 "confidence": 0.1668050360320266
}, },
{ {
@@ -697,10 +691,10 @@
161.75 161.75
], ],
"projected_center_px": [ "projected_center_px": [
1069.322509765625, 1059.4664306640625,
162.12203979492188 161.80316162109375
], ],
"reprojection_error_px": 10.079378283784001, "reprojection_error_px": 0.2228640623874791,
"confidence": 0.17612778902053833 "confidence": 0.17612778902053833
} }
] ]

180
data/evaluations/Scene9/render_c_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:23Z", "created_utc": "2026-06-01T19:31:50Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_c.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_c.png",
"image_sha256": "f983121eb8b5fbda68529f2a2745d24bcc9057585ae23fc1c4e2bd0799fd0887", "image_sha256": "d8fb4e87823c9111a01dc95cd0d67b0a3816755ea9b6ac782f709868f768851a",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 8, "num_detected_markers": 10,
"num_rejected_candidates": 17 "num_rejected_candidates": 17
}, },
"detections": [ "detections": [
{ {
"observation_id": "6b702a27-d28d-4495-9f34-60a4caa12254", "observation_id": "edec48eb-324c-423d-9322-b999b95f98b4",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3160.0, "area_px": 3160.0,
"perimeter_px": 225.135498046875, "perimeter_px": 225.135498046875,
"sharpness": { "sharpness": {
"laplacian_var": 783.9717735258657 "laplacian_var": 784.0616505362725
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 166.0, "p95": 166.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 48.51561021759697, "mean_gray": 48.51182592242195,
"std_gray": 62.30701894393334 "std_gray": 62.3030945728601
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2620043158531189, "distance_to_center_norm": 0.2620043158531189,
@@ -100,7 +100,7 @@
"confidence": 0.9487615650349993 "confidence": 0.9487615650349993
}, },
{ {
"observation_id": "46cc4c8e-b8b9-46f7-afba-da4d24da9a33", "observation_id": "36389201-cc3e-403e-8548-a76d7490e91b",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 2780.5, "area_px": 2780.5,
"perimeter_px": 211.08317947387695, "perimeter_px": 211.08317947387695,
"sharpness": { "sharpness": {
"laplacian_var": 1532.8395161428696 "laplacian_var": 1537.2844359289659
}, },
"contrast": { "contrast": {
"p05": 20.0, "p05": 20.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 79.50802139037434, "mean_gray": 79.47219251336898,
"std_gray": 72.00556789106693 "std_gray": 72.00461977904222
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3746086359024048, "distance_to_center_norm": 0.3746086359024048,
@@ -154,7 +154,61 @@
"confidence": 0.9266602848500798 "confidence": 0.9266602848500798
}, },
{ {
"observation_id": "29a0e049-9ecf-4662-8385-4656717bf3c5", "observation_id": "5b7d1d34-a60d-4d88-98b2-98676d2745f1",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
675.0,
591.0
],
[
675.0,
642.0
],
[
621.0,
640.0
],
[
621.0,
589.0
]
],
"center_px": [
648.0,
615.5
],
"quality": {
"area_px": 2754.0,
"perimeter_px": 210.0740509033203,
"sharpness": {
"laplacian_var": 1843.4099752159816
},
"contrast": {
"p05": 22.0,
"p95": 179.0,
"dynamic_range": 157.0,
"mean_gray": 88.03787878787878,
"std_gray": 72.83345226378215
},
"geometry": {
"distance_to_center_norm": 0.3481198251247406,
"distance_to_border_px": 78.0
},
"edge_ratio": 1.059549518660003,
"edge_lengths_px": [
51.0,
54.037025451660156,
51.0,
54.037025451660156
]
},
"confidence": 0.9437973236632541
},
{
"observation_id": "a6a7c095-16ae-4d3e-b730-965e6b053bef",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 2591.0, "area_px": 2591.0,
"perimeter_px": 204.1737174987793, "perimeter_px": 204.1737174987793,
"sharpness": { "sharpness": {
"laplacian_var": 1258.1230975706499 "laplacian_var": 1257.2737253519597
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 73.14044289044288, "mean_gray": 73.13403263403264,
"std_gray": 69.15072198022662 "std_gray": 69.15682312279218
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.37830305099487305, "distance_to_center_norm": 0.37830305099487305,
@@ -208,7 +262,7 @@
"confidence": 0.8890505808415132 "confidence": 0.8890505808415132
}, },
{ {
"observation_id": "67b4cc8b-73e5-4307-8ef0-daf6f715b14a", "observation_id": "62b457b7-c7c6-4b06-b5ae-d139b48600ef",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 1108.0, "area_px": 1108.0,
"perimeter_px": 149.0601863861084, "perimeter_px": 149.0601863861084,
"sharpness": { "sharpness": {
"laplacian_var": 2601.130769916611 "laplacian_var": 2601.4939346377523
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 65.09597924773023, "mean_gray": 65.094682230869,
"std_gray": 67.48087972012829 "std_gray": 67.480679736792
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.24576722085475922, "distance_to_center_norm": 0.24576722085475922,
@@ -262,7 +316,61 @@
"confidence": 0.3082915922280886 "confidence": 0.3082915922280886
}, },
{ {
"observation_id": "a38c028a-79b4-45d5-83f4-30a9d891fca5", "observation_id": "e1e5b1ce-1ea8-4088-9ff3-288a361cff2e",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
704.0,
651.0
],
[
759.0,
654.0
],
[
759.0,
673.0
],
[
706.0,
670.0
]
],
"center_px": [
732.0,
662.0
],
"quality": {
"area_px": 1023.0,
"perimeter_px": 146.27156829833984,
"sharpness": {
"laplacian_var": 1843.8681529474372
},
"contrast": {
"p05": 25.0,
"p95": 133.0,
"dynamic_range": 108.0,
"mean_gray": 75.87624466571835,
"std_gray": 46.06273527241466
},
"geometry": {
"distance_to_center_norm": 0.42993512749671936,
"distance_to_border_px": 47.0
},
"edge_ratio": 2.8990398206208883,
"edge_lengths_px": [
55.081756591796875,
19.0,
53.0848388671875,
19.10497283935547
]
},
"confidence": 0.22113528604884763
},
{
"observation_id": "3888d0a4-9559-4cdf-9b6a-6c5366466236",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +400,14 @@
"area_px": 1070.0, "area_px": 1070.0,
"perimeter_px": 143.36686897277832, "perimeter_px": 143.36686897277832,
"sharpness": { "sharpness": {
"laplacian_var": 1772.5351793651153 "laplacian_var": 1774.1468356109165
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 142.0, "p95": 142.0,
"dynamic_range": 131.0, "dynamic_range": 131.0,
"mean_gray": 53.849405548216644, "mean_gray": 53.83883751651255,
"std_gray": 54.81491413295803 "std_gray": 54.8183301814257
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5515881180763245, "distance_to_center_norm": 0.5515881180763245,
@@ -316,7 +424,7 @@
"confidence": 0.2964796698261984 "confidence": 0.2964796698261984
}, },
{ {
"observation_id": "18d48a79-b877-466f-8063-deaa13baec23", "observation_id": "2f52f486-2723-44be-891f-99fc6435f18d",
"type": "aruco", "type": "aruco",
"marker_id": 198, "marker_id": 198,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 813.0, "area_px": 813.0,
"perimeter_px": 130.85462188720703, "perimeter_px": 130.85462188720703,
"sharpness": { "sharpness": {
"laplacian_var": 3900.866266383413 "laplacian_var": 3902.064908149118
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 176.0, "p95": 176.0,
"dynamic_range": 160.0, "dynamic_range": 160.0,
"mean_gray": 82.33276740237692, "mean_gray": 82.33106960950764,
"std_gray": 67.51528504030205 "std_gray": 67.51736796524585
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.14350588619709015, "distance_to_center_norm": 0.14350588619709015,
@@ -370,7 +478,7 @@
"confidence": 0.21181999247805575 "confidence": 0.21181999247805575
}, },
{ {
"observation_id": "7b9ff620-f60b-4ce6-8a53-5f65ce9eabfc", "observation_id": "65875279-b911-4197-8724-5b1275dae0fc",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 819.5, "area_px": 819.5,
"perimeter_px": 126.40194129943848, "perimeter_px": 126.40194129943848,
"sharpness": { "sharpness": {
"laplacian_var": 1381.931686421121 "laplacian_var": 1383.774825883322
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 139.0, "p95": 139.0,
"dynamic_range": 127.0, "dynamic_range": 127.0,
"mean_gray": 72.07573149741825, "mean_gray": 72.05335628227195,
"std_gray": 54.09716934533152 "std_gray": 54.12440800684707
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4841289222240448, "distance_to_center_norm": 0.4841289222240448,
@@ -424,7 +532,7 @@
"confidence": 0.21966133686197709 "confidence": 0.21966133686197709
}, },
{ {
"observation_id": "0828ba21-00e9-48d7-aa7a-ecee11d5d351", "observation_id": "f289dcb5-aa91-4c4d-878a-3037120d48c1",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 745.5, "area_px": 745.5,
"perimeter_px": 126.15118789672852, "perimeter_px": 126.15118789672852,
"sharpness": { "sharpness": {
"laplacian_var": 2605.5282780049174 "laplacian_var": 2605.4089031761387
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 83.94227188081936, "mean_gray": 83.94413407821229,
"std_gray": 63.09531689303867 "std_gray": 63.093532945009144
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5230682492256165, "distance_to_center_norm": 0.5230682492256165,

179
data/evaluations/Scene9/render_c_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z", "created_utc": "2026-06-01T19:31:55Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -51,19 +51,17 @@
4, 4,
5, 5,
6, 6,
7, 7
8
], ],
"rms": [ "rms": [
0.006127890335695162, 0.005701466399826417,
0.0008478528520640616, 0.0006549421694515404,
0.00014681024076620722, 0.00010076772233139242,
1.4963709028061363e-05, 8.955449125685644e-06,
8.683670034931927e-07, 4.457696322552101e-07,
2.746078069496483e-08, 1.2040566495468148e-08,
4.529318590563993e-10, 1.7047906406884905e-10,
3.809098542147234e-12, 1.2367921014819193e-12
1.617483009487371e-14
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -73,139 +71,138 @@
6.25e-05, 6.25e-05,
3.125e-05, 3.125e-05,
1.5625e-05, 1.5625e-05,
7.8125e-06, 7.8125e-06
3.90625e-06
] ]
}, },
"residual_rms_px": 0.0, "residual_rms_px": 0.0,
"residual_median_px": 0.0, "residual_median_px": 0.0,
"residual_max_px": 0.0, "residual_max_px": 0.0,
"sigma2_normalized": 1.4637067577342992e-32 "sigma2_normalized": 1.2380339905707805e-28
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.9944018125534058, 0.9940614104270935,
0.10561227053403854, 0.10881201177835464,
0.0033347229473292828 0.0013765320181846619
], ],
[ [
0.04051270708441734, 0.03341108560562134,
-0.35192349553108215, -0.2931424081325531,
-0.9351516366004944 -0.9554848074913025
], ],
[ [
-0.09758992493152618, -0.10356470197439194,
0.9300515651702881, 0.9498565793037415,
-0.35423198342323303 -0.29503706097602844
] ]
], ],
"translation_m": [ "translation_m": [
-0.19784177839756012, -0.19787605106830597,
0.12575188279151917, 0.10631037503480911,
1.0033621788024902 1.004436731338501
], ],
"rvec_rad": [ "rvec_rad": [
1.9306504238906828, 1.8681161592703934,
0.10446594124923296, 0.1028909685973762,
-0.06738381085751584 -0.07392779616757518
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.28955772519111633, 0.2971732020378113,
-0.868028998374939, -0.9013754725456238,
0.4736798107624054 0.39819639921188354
], ],
"position_mm": [ "position_mm": [
289.5577392578125, 297.1731872558594,
-868.0289916992188, -901.37548828125,
473.6798095703125 398.1964111328125
], ],
"orientation_deg": { "orientation_deg": {
"roll": 110.85050201416016, "roll": 107.25542449951172,
"pitch": 5.600404262542725, "pitch": 5.944478988647461,
"yaw": 2.332984685897827 "yaw": 1.9250257015228271
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
5.5276687512634244e-30, 4.16034236814736e-26,
-1.206457356216508e-30, -9.084265959116168e-27,
8.29197807375731e-31, 4.059737303511283e-27,
-2.9021089545003607e-32, -2.171462651448353e-28,
-8.396160241991216e-32, -6.569075768552931e-28,
8.636387114318996e-32 7.283869428875572e-28
], ],
[ [
-1.2064573562166456e-30, -9.084265959116703e-27,
1.594399691698936e-30, 1.453217022374187e-26,
-2.6701861017445683e-30, -2.1587521580168883e-26,
6.662980742991194e-32, 6.264626707818044e-28,
-1.6061172779125545e-32, -1.8033109750434711e-28,
-1.8506593523891487e-32 -4.333901264054954e-28
], ],
[ [
8.291978073760105e-31, 4.0597373035118925e-27,
-2.670186101744606e-30, -2.158752158016915e-26,
6.099489375082028e-30, 4.345003474516798e-26,
-1.2623061654064467e-31, -1.0598909770808383e-27,
-6.416052610833511e-32, -4.055963443383977e-28,
2.7359215533525156e-32 7.061558195885674e-28
], ],
[ [
-2.9021089545010975e-32, -2.171462651448582e-28,
6.662980742991381e-32, 6.264626707818192e-28,
-1.2623061654064646e-31, -1.0598909770808514e-27,
7.744704080393524e-33, 6.920860790472766e-29,
1.1616522854011098e-33, 7.401654102912024e-30,
8.598401270402733e-33 6.025823002516987e-29
], ],
[ [
-8.396160241991087e-32, -6.569075768552518e-28,
-1.6061172779127915e-32, -1.8033109750434164e-28,
-6.416052610833059e-32, -4.055963443384264e-28,
1.1616522854010374e-33, 7.401654102912994e-30,
2.1112104038689702e-32, 1.6829432827871325e-28,
2.4996270792384415e-32 1.7627776762288874e-28
], ],
[ [
8.63638711431877e-32, 7.283869428875599e-28,
-1.850659352389075e-32, -4.3339012640549005e-28,
2.7359215533524696e-32, 7.0615581958855765e-28,
8.598401270403007e-33, 6.025823002517296e-29,
2.4996270792384404e-32, 1.7627776762288863e-28,
1.7243883853867915e-31 1.4778096456239383e-27
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
1.3470807725377516e-13, 1.1686572784344028e-11,
7.234711765071248e-14, 6.906974785675086e-12,
1.4150421354980368e-13 1.1943117263498185e-11
], ],
"tvec_std_m": [ "tvec_std_m": [
8.800400036585566e-17, 8.319171106830756e-15,
1.4530004830931647e-16, 1.2972830388111657e-14,
4.1525755687124967e-16 3.844228980724143e-14
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
2.217696547073064e-15, 1.9239038887871313e-13,
1.1327794084579684e-15, 9.046703865625127e-14,
1.9962965035361475e-15 1.79213346765021e-13
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
2.217696547073064e-12, 1.9239038887871312e-10,
1.1327794084579684e-12, 9.046703865625127e-11,
1.9962965035361473e-12 1.79213346765021e-10
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 1.3986198939544745e-13, "roll": 1.2139618292952154e-11,
"pitch": 1.3057305303039504e-13, "pitch": 1.138388940884766e-11,
"yaw": 3.4300461836332537e-14 "yaw": 2.9978621032086755e-12
} }
} }
}, },

261
data/evaluations/Scene9/render_d_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:24Z", "created_utc": "2026-06-01T19:31:50Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_d.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_d.png",
"image_sha256": "cc5525be9e4d084da7dcfe2e5b568928d216204b56b306b4f5f179c8c16a1bd1", "image_sha256": "a0e04d962e34653aa8d0f6952133c7d8878e1bf5c43936d871804af9ffafd5c1",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 15, "num_detected_markers": 17,
"num_rejected_candidates": 13 "num_rejected_candidates": 12
}, },
"detections": [ "detections": [
{ {
"observation_id": "7bf1b1d4-90cd-4e94-88cb-e26503c195ae", "observation_id": "8bae910d-ea67-4c1f-abed-d805519cd8ac",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3003.5, "area_px": 3003.5,
"perimeter_px": 219.33864974975586, "perimeter_px": 219.33864974975586,
"sharpness": { "sharpness": {
"laplacian_var": 709.9701452934332 "laplacian_var": 709.915418925274
}, },
"contrast": { "contrast": {
"p05": 20.0, "p05": 20.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 147.0, "dynamic_range": 147.0,
"mean_gray": 54.951243781094526, "mean_gray": 54.950746268656715,
"std_gray": 58.27364347051445 "std_gray": 58.273058229026226
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1858735829591751, "distance_to_center_norm": 0.1858735829591751,
@@ -100,7 +100,7 @@
"confidence": 0.9819147066961816 "confidence": 0.9819147066961816
}, },
{ {
"observation_id": "14d29c71-36d0-42f4-9e1d-a14aa2f46e12", "observation_id": "aa87a9d4-2598-4139-9e5b-e948b2d46c16",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 2080.0, "area_px": 2080.0,
"perimeter_px": 185.66013717651367, "perimeter_px": 185.66013717651367,
"sharpness": { "sharpness": {
"laplacian_var": 1672.8244911221539 "laplacian_var": 1692.9493939598208
}, },
"contrast": { "contrast": {
"p05": 27.0, "p05": 27.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 151.0, "dynamic_range": 151.0,
"mean_gray": 85.84252539912917, "mean_gray": 85.81640058055153,
"std_gray": 68.59572585251496 "std_gray": 68.61043849833548
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.343665212392807, "distance_to_center_norm": 0.343665212392807,
@@ -154,7 +154,61 @@
"confidence": 0.896516741806838 "confidence": 0.896516741806838
}, },
{ {
"observation_id": "932f774f-4e00-4613-9ad3-6c4816956662", "observation_id": "0c59a634-c420-419f-ba9e-3e029bc9d6db",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
589.0,
575.0
],
[
588.0,
624.0
],
[
548.0,
611.0
],
[
548.0,
564.0
]
],
"center_px": [
568.25,
593.5
],
"quality": {
"area_px": 1950.0,
"perimeter_px": 180.51965713500977,
"sharpness": {
"laplacian_var": 2305.074017159763
},
"contrast": {
"p05": 28.0,
"p95": 179.0,
"dynamic_range": 151.0,
"mean_gray": 93.40905602455871,
"std_gray": 69.20407591802395
},
"geometry": {
"distance_to_center_norm": 0.33266279101371765,
"distance_to_border_px": 96.0
},
"edge_ratio": 1.1652593259657194,
"edge_lengths_px": [
49.01020431518555,
42.05948257446289,
47.0,
42.44997024536133
]
},
"confidence": 0.8581780705091039
},
{
"observation_id": "da46be38-bd6b-4276-8dfd-f654ecaf75ed",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 1668.0, "area_px": 1668.0,
"perimeter_px": 168.49964904785156, "perimeter_px": 168.49964904785156,
"sharpness": { "sharpness": {
"laplacian_var": 1907.4208760474548 "laplacian_var": 1906.2662187539574
}, },
"contrast": { "contrast": {
"p05": 28.0, "p05": 28.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 77.49121265377856, "mean_gray": 77.47627416520211,
"std_gray": 65.74209617322856 "std_gray": 65.73702642125414
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.36147359013557434, "distance_to_center_norm": 0.36147359013557434,
@@ -208,7 +262,7 @@
"confidence": 0.8782459535277616 "confidence": 0.8782459535277616
}, },
{ {
"observation_id": "ce799fa4-c2c3-4469-b7df-ebd057b1f90d", "observation_id": "54235993-109a-42d0-bf93-ed9432dad75e",
"type": "aruco", "type": "aruco",
"marker_id": 244, "marker_id": 244,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 1325.0, "area_px": 1325.0,
"perimeter_px": 161.38826751708984, "perimeter_px": 161.38826751708984,
"sharpness": { "sharpness": {
"laplacian_var": 511.29994759651987 "laplacian_var": 511.38778212254675
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 89.0, "p95": 89.0,
"dynamic_range": 74.0, "dynamic_range": 74.0,
"mean_gray": 47.11001100110011, "mean_gray": 47.094609460946096,
"std_gray": 32.64417961959195 "std_gray": 32.64530627130261
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3628436028957367, "distance_to_center_norm": 0.3628436028957367,
@@ -262,7 +316,7 @@
"confidence": 0.49420707353484883 "confidence": 0.49420707353484883
}, },
{ {
"observation_id": "9675e83b-bfa3-49c1-81c4-9270daabb7bf", "observation_id": "e77fee8b-b8ec-4148-b157-9abdfc92596e",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +346,14 @@
"area_px": 1114.0, "area_px": 1114.0,
"perimeter_px": 152.46969032287598, "perimeter_px": 152.46969032287598,
"sharpness": { "sharpness": {
"laplacian_var": 2043.369546949695 "laplacian_var": 2042.4425525196261
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 143.0, "p95": 143.0,
"dynamic_range": 133.0, "dynamic_range": 133.0,
"mean_gray": 56.2476821192053, "mean_gray": 56.23841059602649,
"std_gray": 55.619743545892696 "std_gray": 55.618128995593544
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5688640475273132, "distance_to_center_norm": 0.5688640475273132,
@@ -316,7 +370,61 @@
"confidence": 0.06739671544456982 "confidence": 0.06739671544456982
}, },
{ {
"observation_id": "bf0f473c-91da-4641-aef6-e28c6da66d9c", "observation_id": "dcb741a1-ad97-40bd-9686-bdde12ff80d5",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
610.0,
637.0
],
[
654.0,
650.0
],
[
674.0,
673.0
],
[
632.0,
659.0
]
],
"center_px": [
642.5,
654.75
],
"quality": {
"area_px": 684.0,
"perimeter_px": 151.7443675994873,
"sharpness": {
"laplacian_var": 2755.60512329932
},
"contrast": {
"p05": 32.0,
"p95": 133.0,
"dynamic_range": 101.0,
"mean_gray": 77.08928571428571,
"std_gray": 40.07564727177467
},
"geometry": {
"distance_to_center_norm": 0.4014158248901367,
"distance_to_border_px": 47.0
},
"edge_ratio": 1.5052831229364487,
"edge_lengths_px": [
45.880279541015625,
30.479501724243164,
44.271888732910156,
31.11269760131836
]
},
"confidence": 0.28475706228860487
},
{
"observation_id": "55b666c6-05bc-439c-ad4b-ceb8d61468a5",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +454,14 @@
"area_px": 951.5, "area_px": 951.5,
"perimeter_px": 142.9928855895996, "perimeter_px": 142.9928855895996,
"sharpness": { "sharpness": {
"laplacian_var": 3346.5119000524596 "laplacian_var": 3347.7465041580317
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 112.79032258064517, "mean_gray": 112.78299120234604,
"std_gray": 69.39703670908084 "std_gray": 69.39930660764287
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5738922953605652, "distance_to_center_norm": 0.5738922953605652,
@@ -370,7 +478,7 @@
"confidence": 0.17416420855033052 "confidence": 0.17416420855033052
}, },
{ {
"observation_id": "e5e24bc2-806b-4b1a-ab9a-01fbb46a2f5f", "observation_id": "489a23e1-e55f-44f5-adce-cccdc43780e5",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +508,14 @@
"area_px": 803.5, "area_px": 803.5,
"perimeter_px": 142.90676498413086, "perimeter_px": 142.90676498413086,
"sharpness": { "sharpness": {
"laplacian_var": 3132.505215730758 "laplacian_var": 3134.584695651069
}, },
"contrast": { "contrast": {
"p05": 20.0, "p05": 20.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 159.0, "dynamic_range": 159.0,
"mean_gray": 71.9144385026738, "mean_gray": 71.9090909090909,
"std_gray": 66.01217806202283 "std_gray": 66.00751272042592
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2311026006937027, "distance_to_center_norm": 0.2311026006937027,
@@ -424,7 +532,7 @@
"confidence": 0.4189637021373363 "confidence": 0.4189637021373363
}, },
{ {
"observation_id": "2f6720bf-5b34-48df-8198-fee5dd64394f", "observation_id": "75bc26b6-8ca6-4af3-bd86-01d4b018d232",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +562,14 @@
"area_px": 913.0, "area_px": 913.0,
"perimeter_px": 142.04078674316406, "perimeter_px": 142.04078674316406,
"sharpness": { "sharpness": {
"laplacian_var": 3835.5621529916166 "laplacian_var": 3842.5053173541355
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 77.06298003072196, "mean_gray": 77.05837173579108,
"std_gray": 69.67934476786625 "std_gray": 69.6877805767358
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6794013381004333, "distance_to_center_norm": 0.6794013381004333,
@@ -478,7 +586,7 @@
"confidence": 0.24540823915500745 "confidence": 0.24540823915500745
}, },
{ {
"observation_id": "3133bfbd-c37f-4aad-b117-3a07fa7e7da8", "observation_id": "3d570170-0edf-43c0-a808-c6484cb3b4f4",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +616,14 @@
"area_px": 898.5, "area_px": 898.5,
"perimeter_px": 139.83118438720703, "perimeter_px": 139.83118438720703,
"sharpness": { "sharpness": {
"laplacian_var": 2159.6336565377906 "laplacian_var": 2165.0729923120616
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 140.0, "p95": 140.0,
"dynamic_range": 127.0, "dynamic_range": 127.0,
"mean_gray": 73.90764331210191, "mean_gray": 73.88057324840764,
"std_gray": 54.18881596763934 "std_gray": 54.212692167315154
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5762108564376831, "distance_to_center_norm": 0.5762108564376831,
@@ -532,7 +640,7 @@
"confidence": 0.32624039952470835 "confidence": 0.32624039952470835
}, },
{ {
"observation_id": "ec538e9f-a506-4224-b8ce-3f45c3f36942", "observation_id": "a1410f74-a7a1-4241-b2c4-cc5f093581ff",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +670,14 @@
"area_px": 753.5, "area_px": 753.5,
"perimeter_px": 135.12271118164062, "perimeter_px": 135.12271118164062,
"sharpness": { "sharpness": {
"laplacian_var": 3164.585753733609 "laplacian_var": 3165.2169324408337
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 80.77566539923954, "mean_gray": 80.77756653992395,
"std_gray": 69.1997649465929 "std_gray": 69.20069143049439
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6910034418106079, "distance_to_center_norm": 0.6910034418106079,
@@ -586,7 +694,7 @@
"confidence": 0.45882243623190877 "confidence": 0.45882243623190877
}, },
{ {
"observation_id": "b2c3ccf6-e214-4135-811e-556619d5c7a8", "observation_id": "413d266c-3ec4-42ca-8f95-c41af134499b",
"type": "aruco", "type": "aruco",
"marker_id": 124, "marker_id": 124,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -640,7 +748,7 @@
"confidence": 0.051262886894149665 "confidence": 0.051262886894149665
}, },
{ {
"observation_id": "67e94429-c3a8-40bf-9cb6-6754a61a0e22", "observation_id": "bd697839-f6b6-47e4-9ad8-b209dbb774af",
"type": "aruco", "type": "aruco",
"marker_id": 211, "marker_id": 211,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +778,14 @@
"area_px": 756.0, "area_px": 756.0,
"perimeter_px": 131.0517463684082, "perimeter_px": 131.0517463684082,
"sharpness": { "sharpness": {
"laplacian_var": 1423.9812119008097 "laplacian_var": 1421.5132665296026
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 9.3,
"p95": 134.0, "p95": 134.0,
"dynamic_range": 124.0, "dynamic_range": 124.7,
"mean_gray": 58.74193548387097, "mean_gray": 58.6831119544592,
"std_gray": 52.284307136314716 "std_gray": 52.27402037585227
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3794279992580414, "distance_to_center_norm": 0.3794279992580414,
@@ -694,7 +802,7 @@
"confidence": 0.3071912693949274 "confidence": 0.3071912693949274
}, },
{ {
"observation_id": "fa2bc2d8-3fb1-4e16-b1ff-039d2229de1c", "observation_id": "c5f98eba-a550-42e3-831a-27ffcb5b336f",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +832,14 @@
"area_px": 639.0, "area_px": 639.0,
"perimeter_px": 120.78989791870117, "perimeter_px": 120.78989791870117,
"sharpness": { "sharpness": {
"laplacian_var": 2347.9067510458917 "laplacian_var": 2347.74085242838
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 154.0, "p95": 154.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 60.45622119815668, "mean_gray": 60.453917050691246,
"std_gray": 57.54496675317384 "std_gray": 57.541361167645114
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8898242115974426, "distance_to_center_norm": 0.8898242115974426,
@@ -748,7 +856,7 @@
"confidence": 0.013395930107400523 "confidence": 0.013395930107400523
}, },
{ {
"observation_id": "3883a462-49c5-477f-af6f-16d8df30a4dd", "observation_id": "01d3a83a-fdb7-41b7-bedf-31c5b4dcca8b",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +886,14 @@
"area_px": 517.0, "area_px": 517.0,
"perimeter_px": 110.77002239227295, "perimeter_px": 110.77002239227295,
"sharpness": { "sharpness": {
"laplacian_var": 2490.516899956597 "laplacian_var": 2491.36585828993
}, },
"contrast": { "contrast": {
"p05": 14.0, "p05": 14.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 139.0, "dynamic_range": 139.0,
"mean_gray": 81.57291666666667, "mean_gray": 81.578125,
"std_gray": 54.69593883302844 "std_gray": 54.69478894877501
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8393738269805908, "distance_to_center_norm": 0.8393738269805908,
@@ -802,7 +910,7 @@
"confidence": 0.07285288505606423 "confidence": 0.07285288505606423
}, },
{ {
"observation_id": "cc178f65-204b-4f74-be9d-ba4d38e7c06c", "observation_id": "622c2420-67c0-4249-964d-5297bd514fa0",
"type": "aruco", "type": "aruco",
"marker_id": 86, "marker_id": 86,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 481.0, "area_px": 481.0,
"perimeter_px": 104.36293029785156, "perimeter_px": 104.36293029785156,
"sharpness": { "sharpness": {
"laplacian_var": 2280.0942749058095 "laplacian_var": 2279.451615626031
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 152.0, "p95": 152.0,
"dynamic_range": 139.0, "dynamic_range": 139.0,
"mean_gray": 79.05817174515235, "mean_gray": 79.05540166204986,
"std_gray": 53.4666328337065 "std_gray": 53.46360483038126
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.759231686592102, "distance_to_center_norm": 0.759231686592102,
@@ -1156,31 +1264,6 @@
233.0 233.0
], ],
"area_px": 122.0 "area_px": 122.0
},
{
"image_points_px": [
[
657.0,
636.0
],
[
662.0,
646.0
],
[
663.0,
656.0
],
[
657.0,
650.0
]
],
"center_px": [
659.75,
647.0
],
"area_px": 62.0
} }
] ]
} }

224
data/evaluations/Scene9/render_d_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:27Z", "created_utc": "2026-06-01T19:31:55Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -56,10 +56,10 @@
3 3
], ],
"rms": [ "rms": [
0.006170555783051489, 0.00592128797069254,
0.0012293953054527144, 0.0002194332973785019,
0.00121100792156609, 7.664644811953067e-05,
0.0012110078502646229 7.664508292835141e-05
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -68,135 +68,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 2.571926995828887, "residual_rms_px": 0.1926882876782969,
"residual_median_px": 1.7530882678650423, "residual_median_px": 0.1532091843546219,
"residual_max_px": 5.015482946936298, "residual_max_px": 0.36992141357038616,
"sigma2_normalized": 2.1998100201036963e-06 "sigma2_normalized": 8.81170310356566e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.8208228945732117, 0.819083571434021,
0.5711369514465332, 0.573674201965332,
-0.007236112374812365 -7.804717461112887e-05
], ],
[ [
0.17046144604682922, 0.16154244542121887,
-0.25703468918800354, -0.23077847063541412,
-0.9512497186660767 -0.959502637386322
], ],
[ [
-0.545153796672821, -0.5504599213600159,
0.7795740962028503, 0.7859002351760864,
-0.3083367645740509 -0.28169959783554077
] ]
], ],
"translation_m": [ "translation_m": [
-0.1157284826040268, -0.1149967834353447,
0.1107938289642334, 0.08632534742355347,
1.1233245134353638 1.1262248754501343
], ],
"rvec_rad": [ "rvec_rad": [
1.820345783135202, 1.790890359735796,
0.565739972072733, 0.5647255469066017,
-0.42139931920823825 -0.4228724418736391
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.6884911060333252, 0.700188398361206,
-0.7811400294303894, -0.7992076277732849,
0.45091742277145386 0.4000775218009949
], ],
"position_mm": [ "position_mm": [
688.4910888671875, 700.1884155273438,
-781.1400146484375, -799.2076416015625,
450.91741943359375 400.0775146484375
], ],
"orientation_deg": { "orientation_deg": {
"roll": 111.57975769042969, "roll": 109.71980285644531,
"pitch": 33.03517150878906, "pitch": 33.3985710144043,
"yaw": 11.731935501098633 "yaw": 11.156882286071777
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
3.802912364722085e-05, 1.474264434205888e-07,
1.641716016150694e-05, 6.374158505004994e-08,
1.691836245137162e-05, 6.5393212187082e-08,
6.126801770729793e-08, 2.323551745772562e-10,
-7.054768849224667e-06, -2.8175754378558378e-08,
-1.4055169549040093e-06 -6.281842445634639e-09
], ],
[ [
1.6417160161507313e-05, 6.374158505004971e-08,
1.8076806685023157e-05, 7.516394631858262e-08,
-1.2387621424337972e-07, -3.098788390694164e-09,
1.428054155254671e-06, 6.231784272508069e-09,
-3.564815364989778e-06, -1.4652912297735088e-08,
3.3814832059954696e-06 1.4871976782740992e-08
], ],
[ [
1.691836245137113e-05, 6.539321218708259e-08,
-1.2387621424384347e-07, -3.0987883906935035e-09,
3.514815322876603e-05, 1.30834849529192e-07,
-1.9686880580364376e-06, -7.83447200398745e-09,
-5.9266379714250665e-06, -2.20136873576919e-08,
-9.613830700805953e-06 -3.713327527158082e-08
], ],
[ [
6.126801770734447e-08, 2.3235517457724588e-10,
1.428054155254699e-06, 6.231784272508058e-09,
-1.9686880580364237e-06, -7.834472003987483e-09,
4.860268624097902e-07, 2.015321468609898e-09,
1.2958398906388404e-07, 3.824536871097561e-10,
1.137747180562379e-06 4.720259558328338e-09
], ],
[ [
-7.0547688492246515e-06, -2.8175754378558405e-08,
-3.5648153649896957e-06, -1.4652912297735193e-08,
-5.926637971425152e-06, -2.201368735769175e-08,
1.2958398906389237e-07, 3.824536871097535e-10,
2.168988131799405e-06, 8.462319544152771e-09,
1.8523330142213258e-06 6.50882687645283e-09
], ],
[ [
-1.4055169549037846e-06, -6.281842445634875e-09,
3.3814832059956026e-06, 1.4871976782740766e-08,
-9.61383070080584e-06, -3.713327527158089e-08,
1.1377471805623797e-06, 4.720259558328354e-09,
1.8523330142212812e-06, 6.508826876452886e-09,
8.248418996032322e-06 3.3381200906306504e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.3533302259848121, 0.02199937418702532,
0.243603480626876, 0.0157082360647714,
0.3396830590573791 0.020724513862507427
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0006971562682855188, 4.4892331957806536e-05,
0.0014727484957722432, 9.19908666344261e-05,
0.0028720060926175493 0.00018270522955379933
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.004836840199544631, 0.0003266235513242862,
0.003058465639926295, 0.0001808706851681404,
0.006511032751858579 0.0003924503039833442
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
4.836840199544631, 0.3266235513242862,
3.058465639926295, 0.1808706851681404,
6.511032751858579 0.39245030398334424
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.4538839876757688, "roll": 0.02672957057968057,
"pitch": 0.25057379305976407, "pitch": 0.018277498858926877,
"yaw": 0.3499434553975412 "yaw": 0.022351358840042954
} }
} }
}, },
@@ -209,10 +209,10 @@
696.5 696.5
], ],
"projected_center_px": [ "projected_center_px": [
887.7296752929688, 887.3785400390625,
696.2703247070312 696.5933837890625
], ],
"reprojection_error_px": 0.3248099142584202, "reprojection_error_px": 0.1532091843546219,
"confidence": 0.06739671544456982 "confidence": 0.06739671544456982
}, },
{ {
@@ -222,10 +222,10 @@
691.25 691.25
], ],
"projected_center_px": [ "projected_center_px": [
379.45953369140625, 379.3415832519531,
688.251953125 691.183349609375
], ],
"reprojection_error_px": 2.998319960716079, "reprojection_error_px": 0.1718666361811162,
"confidence": 0.17416420855033052 "confidence": 0.17416420855033052
}, },
{ {
@@ -235,10 +235,10 @@
685.0 685.0
], ],
"projected_center_px": [ "projected_center_px": [
261.4115295410156, 261.4269714355469,
683.2491455078125 685.0563354492188
], ],
"reprojection_error_px": 1.7530882678650423, "reprojection_error_px": 0.09223260846773548,
"confidence": 0.24540823915500745 "confidence": 0.24540823915500745
}, },
{ {
@@ -248,10 +248,10 @@
638.25 638.25
], ],
"projected_center_px": [ "projected_center_px": [
958.8698120117188, 958.720947265625,
640.2307739257812 638.2713012695312
], ],
"reprojection_error_px": 1.984394180400396, "reprojection_error_px": 0.03602506708261993,
"confidence": 0.32624039952470835 "confidence": 0.32624039952470835
}, },
{ {
@@ -261,10 +261,10 @@
631.75 631.75
], ],
"projected_center_px": [ "projected_center_px": [
210.99404907226562, 211.63552856445312,
633.2077026367188 631.7791748046875
], ],
"reprojection_error_px": 1.5430111206248873, "reprojection_error_px": 0.13863318870775002,
"confidence": 0.45882243623190877 "confidence": 0.45882243623190877
}, },
{ {
@@ -274,10 +274,10 @@
593.5 593.5
], ],
"projected_center_px": [ "projected_center_px": [
792.0845336914062, 792.3450927734375,
598.5147705078125 593.3667602539062
], ],
"reprojection_error_px": 5.015482946936298, "reprojection_error_px": 0.36992141357038616,
"confidence": 0.3071912693949274 "confidence": 0.3071912693949274
}, },
{ {
@@ -287,10 +287,10 @@
596.75 596.75
], ],
"projected_center_px": [ "projected_center_px": [
1249.3333740234375, 1249.1597900390625,
593.0040283203125 596.575439453125
], ],
"reprojection_error_px": 3.7607767900426765, "reprojection_error_px": 0.23665215213239527,
"confidence": 0.013395930107400523 "confidence": 0.013395930107400523
}, },
{ {
@@ -300,10 +300,10 @@
549.5 549.5
], ],
"projected_center_px": [ "projected_center_px": [
1226.4927978515625, 1226.3973388671875,
548.7413940429688 549.6629638671875
], ],
"reprojection_error_px": 0.758640144591238, "reprojection_error_px": 0.19260459547749867,
"confidence": 0.07285288505606423 "confidence": 0.07285288505606423
}, },
{ {
@@ -313,10 +313,10 @@
518.5 518.5
], ],
"projected_center_px": [ "projected_center_px": [
1174.326416015625, 1174.351318359375,
519.5684814453125 518.5086669921875
], ],
"reprojection_error_px": 1.0824897221722658, "reprojection_error_px": 0.14893403577597647,
"confidence": 0.14539527499019034 "confidence": 0.14539527499019034
} }
] ]

400
data/evaluations/Scene9/render_e_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:24Z", "created_utc": "2026-06-01T19:31:51Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_e.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_e.png",
"image_sha256": "1e3b7817bb58783826cf29c0636df212b76dbe6d64837dbe50a3ef25e59e405b", "image_sha256": "fc0caa88429f58e2c256896048c494c17de93e897c243f0b288366819ced0d7a",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 30, "num_detected_markers": 32,
"num_rejected_candidates": 16 "num_rejected_candidates": 16
}, },
"detections": [ "detections": [
{ {
"observation_id": "d4c2d49a-d5a2-41e8-ab16-c56d09039b0f", "observation_id": "c1d2da59-75c6-4d02-886d-8fabb61ec9ea",
"type": "aruco", "type": "aruco",
"marker_id": 92, "marker_id": 92,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.15369374989294518 "confidence": 0.15369374989294518
}, },
{ {
"observation_id": "c13f1780-9fb6-4e71-a8c8-81f48f6e4a59", "observation_id": "67866484-49d4-4ee3-9600-6a3e9a295b4b",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1138.5, "area_px": 1138.5,
"perimeter_px": 135.51135063171387, "perimeter_px": 135.51135063171387,
"sharpness": { "sharpness": {
"laplacian_var": 1395.54265041454 "laplacian_var": 1396.3165967746934
}, },
"contrast": { "contrast": {
"p05": 30.0, "p05": 30.0,
"p95": 168.0, "p95": 168.0,
"dynamic_range": 138.0, "dynamic_range": 138.0,
"mean_gray": 63.54150702426565, "mean_gray": 63.5389527458493,
"std_gray": 53.90550837087516 "std_gray": 53.90337793850841
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31962084770202637, "distance_to_center_norm": 0.31962084770202637,
@@ -154,7 +154,7 @@
"confidence": 0.6379583967674639 "confidence": 0.6379583967674639
}, },
{ {
"observation_id": "c5c22347-c916-4b33-93b9-7dead9184c3b", "observation_id": "2517ca9f-ed92-457b-b000-0506de854a3f",
"type": "aruco", "type": "aruco",
"marker_id": 217, "marker_id": 217,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.3233651345714012 "confidence": 0.3233651345714012
}, },
{ {
"observation_id": "83fbec59-ae42-4d8c-986b-206286e18707", "observation_id": "5cb181eb-eb8f-4e03-9f55-89ba3f92ef5c",
"type": "aruco", "type": "aruco",
"marker_id": 105, "marker_id": 105,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 726.0, "area_px": 726.0,
"perimeter_px": 129.54478073120117, "perimeter_px": 129.54478073120117,
"sharpness": { "sharpness": {
"laplacian_var": 1552.4957839915678 "laplacian_var": 1552.9763275776552
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 164.0, "p95": 164.0,
"dynamic_range": 145.0, "dynamic_range": 145.0,
"mean_gray": 46.78740157480315, "mean_gray": 46.75787401574803,
"std_gray": 48.665316906665055 "std_gray": 48.667626115320886
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.43365001678466797, "distance_to_center_norm": 0.43365001678466797,
@@ -262,7 +262,7 @@
"confidence": 0.420622587927407 "confidence": 0.420622587927407
}, },
{ {
"observation_id": "a9d18886-3b74-49ae-a5b8-b52b1a0b7cb4", "observation_id": "4648f9ca-f152-4ff7-ad5c-d5b0e146800c",
"type": "aruco", "type": "aruco",
"marker_id": 85, "marker_id": 85,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 705.0, "area_px": 705.0,
"perimeter_px": 129.15711212158203, "perimeter_px": 129.15711212158203,
"sharpness": { "sharpness": {
"laplacian_var": 2392.7856022683077 "laplacian_var": 2402.441918526604
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 171.0, "p95": 171.0,
"dynamic_range": 145.0, "dynamic_range": 145.0,
"mean_gray": 130.17791411042944, "mean_gray": 130.10838445807772,
"std_gray": 51.46018218641758 "std_gray": 51.54106222561808
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4187626242637634, "distance_to_center_norm": 0.4187626242637634,
@@ -316,7 +316,7 @@
"confidence": 0.3128949822399185 "confidence": 0.3128949822399185
}, },
{ {
"observation_id": "361f898d-4df7-4264-8afb-b3eb5d8f998d", "observation_id": "54f50283-03a1-4fa7-abe4-ea4d1e3b6cf6",
"type": "aruco", "type": "aruco",
"marker_id": 206, "marker_id": 206,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -330,7 +330,7 @@
568.0 568.0
], ],
[ [
1233.0, 1229.0,
578.0 578.0
], ],
[ [
@@ -339,38 +339,38 @@
] ]
], ],
"center_px": [ "center_px": [
1223.5, 1222.5,
566.75 566.75
], ],
"quality": { "quality": {
"area_px": 614.0, "area_px": 620.0,
"perimeter_px": 124.33826637268066, "perimeter_px": 124.12893295288086,
"sharpness": { "sharpness": {
"laplacian_var": 2848.1774430402274 "laplacian_var": 2173.9590709117824
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 161.0, "p95": 161.0,
"dynamic_range": 138.0, "dynamic_range": 138.0,
"mean_gray": 81.125, "mean_gray": 80.4771689497717,
"std_gray": 51.497169161069166 "std_gray": 51.167226768523435
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8430395126342773, "distance_to_center_norm": 0.8417559862136841,
"distance_to_border_px": 29.0 "distance_to_border_px": 29.0
}, },
"edge_ratio": 2.0425889778302593, "edge_ratio": 1.583843936128768,
"edge_lengths_px": [ "edge_lengths_px": [
36.055511474609375, 36.055511474609375,
20.59126091003418, 24.166091918945312,
42.05948257446289, 38.27531814575195,
25.63201141357422 25.63201141357422
] ]
}, },
"confidence": 0.11623157468788738 "confidence": 0.15136171428561934
}, },
{ {
"observation_id": "cd26fca3-64f5-4bda-9136-1483b4055d11", "observation_id": "70a870d8-faf8-47fe-8c2f-8df7bde12dc0",
"type": "aruco", "type": "aruco",
"marker_id": 244, "marker_id": 244,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 914.0, "area_px": 914.0,
"perimeter_px": 122.61877822875977, "perimeter_px": 122.61877822875977,
"sharpness": { "sharpness": {
"laplacian_var": 605.5716694535059 "laplacian_var": 602.3394909582115
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 90.0, "p95": 89.0,
"dynamic_range": 80.0, "dynamic_range": 79.0,
"mean_gray": 43.77182235834609, "mean_gray": 43.733537519142416,
"std_gray": 35.104721948918254 "std_gray": 35.054183295376696
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.059734828770160675, "distance_to_center_norm": 0.059734828770160675,
@@ -421,10 +421,10 @@
34.01470184326172 34.01470184326172
] ]
}, },
"confidence": 0.48895218467117135 "confidence": 0.48284028236278176
}, },
{ {
"observation_id": "c44ff6c1-bf51-454b-b472-b578a37dc7a1", "observation_id": "71cef381-127b-47d0-86cd-be233a8db9fd",
"type": "aruco", "type": "aruco",
"marker_id": 97, "marker_id": 97,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 543.0, "area_px": 543.0,
"perimeter_px": 114.0735855102539, "perimeter_px": 114.0735855102539,
"sharpness": { "sharpness": {
"laplacian_var": 3936.05531141493 "laplacian_var": 3948.9721611870664
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 102.42708333333333, "mean_gray": 102.38020833333333,
"std_gray": 66.00216928121674 "std_gray": 66.02470516119904
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.43057525157928467, "distance_to_center_norm": 0.43057525157928467,
@@ -478,14 +478,14 @@
"confidence": 0.22596816505744277 "confidence": 0.22596816505744277
}, },
{ {
"observation_id": "99aa3687-533b-4c99-bc5b-4d581bb7830d", "observation_id": "3ab18057-f549-4b6a-ac7a-5ff13ade4a50",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
"image_points_px": [ "image_points_px": [
[ [
610.0, 609.0,
375.0 374.0
], ],
[ [
608.0, 608.0,
@@ -501,38 +501,38 @@
] ]
], ],
"center_px": [ "center_px": [
598.25, 598.0,
387.5 387.25
], ],
"quality": { "quality": {
"area_px": 721.5, "area_px": 711.0,
"perimeter_px": 111.95730209350586, "perimeter_px": 111.63799858093262,
"sharpness": { "sharpness": {
"laplacian_var": 2651.282638480307 "laplacian_var": 2707.612600701456
}, },
"contrast": { "contrast": {
"p05": 33.6, "p05": 34.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 144.4, "dynamic_range": 144.0,
"mean_gray": 91.25963488843813, "mean_gray": 92.16082474226805,
"std_gray": 63.714703337359325 "std_gray": 63.81131101734856
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.06808248162269592, "distance_to_center_norm": 0.06818114966154099,
"distance_to_border_px": 312.0 "distance_to_border_px": 312.0
}, },
"edge_ratio": 1.471175252019898, "edge_ratio": 1.5366275447822217,
"edge_lengths_px": [ "edge_lengths_px": [
33.060550689697266, 34.01470184326172,
22.472204208374023, 22.472204208374023,
33.0151481628418, 33.0151481628418,
23.409399032592773 22.135944366455078
] ]
}, },
"confidence": 0.32694949112255345 "confidence": 0.3084677231053915
}, },
{ {
"observation_id": "cbaa94d0-b167-4732-a9fd-0e8f99f8ac12", "observation_id": "03ad9dcf-0f4d-45ad-9b37-334beed9cc55",
"type": "aruco", "type": "aruco",
"marker_id": 47, "marker_id": 47,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 503.0, "area_px": 503.0,
"perimeter_px": 111.20100593566895, "perimeter_px": 111.20100593566895,
"sharpness": { "sharpness": {
"laplacian_var": 3261.1373761041914 "laplacian_var": 3296.9066262245833
}, },
"contrast": { "contrast": {
"p05": 28.0, "p05": 27.0,
"p95": 175.0, "p95": 175.0,
"dynamic_range": 147.0, "dynamic_range": 148.0,
"mean_gray": 86.02680965147454, "mean_gray": 85.16085790884719,
"std_gray": 58.83333418681533 "std_gray": 59.422022901432
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31366512179374695, "distance_to_center_norm": 0.31366512179374695,
@@ -586,7 +586,7 @@
"confidence": 0.24626971873720385 "confidence": 0.24626971873720385
}, },
{ {
"observation_id": "aabe2ac4-c842-4fa3-98e0-48041e69f5ff", "observation_id": "ef75cf1d-9682-4a82-a02f-bab3775e6829",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 432.0, "area_px": 432.0,
"perimeter_px": 105.96671867370605, "perimeter_px": 105.96671867370605,
"sharpness": { "sharpness": {
"laplacian_var": 4367.582266422802 "laplacian_var": 4391.6449759945135
}, },
"contrast": { "contrast": {
"p05": 21.0, "p05": 21.0,
"p95": 172.0, "p95": 172.0,
"dynamic_range": 151.0, "dynamic_range": 151.0,
"mean_gray": 92.24382716049382, "mean_gray": 92.17901234567901,
"std_gray": 65.13072651191699 "std_gray": 65.15692399663716
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.26008275151252747, "distance_to_center_norm": 0.26008275151252747,
@@ -640,7 +640,61 @@
"confidence": 0.2205630261207473 "confidence": 0.2205630261207473
}, },
{ {
"observation_id": "0d59062d-e9f7-436b-be31-a1f48562cb53", "observation_id": "9d345a22-ca8c-43a7-bc0e-cc40d714b8e9",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
577.0,
363.0
],
[
576.0,
396.0
],
[
556.0,
389.0
],
[
556.0,
356.0
]
],
"center_px": [
566.25,
376.0
],
"quality": {
"area_px": 680.0,
"perimeter_px": 109.34071350097656,
"sharpness": {
"laplacian_var": 3585.3338224302925
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 98.88865096359743,
"std_gray": 63.69332657183244
},
"geometry": {
"distance_to_center_norm": 0.10277188569307327,
"distance_to_border_px": 324.0
},
"edge_ratio": 1.5580811099437382,
"edge_lengths_px": [
33.0151481628418,
21.189620971679688,
33.0,
22.135944366455078
]
},
"confidence": 0.2909561835004232
},
{
"observation_id": "f09883dd-66c3-4f34-8027-c3a34bc78728",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +724,14 @@
"area_px": 396.0, "area_px": 396.0,
"perimeter_px": 108.54165649414062, "perimeter_px": 108.54165649414062,
"sharpness": { "sharpness": {
"laplacian_var": 2603.223745586377 "laplacian_var": 2603.443676857855
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 139.0, "p95": 139.0,
"dynamic_range": 126.0, "dynamic_range": 126.0,
"mean_gray": 56.766323024054984, "mean_gray": 56.756013745704465,
"std_gray": 49.3015864450501 "std_gray": 49.28839588574071
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.23876266181468964, "distance_to_center_norm": 0.23876266181468964,
@@ -694,7 +748,7 @@
"confidence": 0.22017552547080893 "confidence": 0.22017552547080893
}, },
{ {
"observation_id": "df48a7ee-fb72-4bb7-a880-7bafbd7e4745", "observation_id": "b511c649-67e9-4482-9ba7-6c177021fa17",
"type": "aruco", "type": "aruco",
"marker_id": 62, "marker_id": 62,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +778,14 @@
"area_px": 465.0, "area_px": 465.0,
"perimeter_px": 108.44962120056152, "perimeter_px": 108.44962120056152,
"sharpness": { "sharpness": {
"laplacian_var": 2477.282990805841 "laplacian_var": 2471.784444294213
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 166.0, "p95": 166.0,
"dynamic_range": 143.0, "dynamic_range": 143.0,
"mean_gray": 52.51162790697674, "mean_gray": 52.44476744186046,
"std_gray": 47.46295843003588 "std_gray": 47.474134652381274
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2988838255405426, "distance_to_center_norm": 0.2988838255405426,
@@ -748,7 +802,7 @@
"confidence": 0.24902550615732547 "confidence": 0.24902550615732547
}, },
{ {
"observation_id": "7d333789-0ec1-4adc-a929-f76a5cf68cc7", "observation_id": "d828dce3-c8f1-4fc8-9dd0-4f9a7dbff5b4",
"type": "aruco", "type": "aruco",
"marker_id": 124, "marker_id": 124,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +832,14 @@
"area_px": 636.5, "area_px": 636.5,
"perimeter_px": 108.21402168273926, "perimeter_px": 108.21402168273926,
"sharpness": { "sharpness": {
"laplacian_var": 598.769370855703 "laplacian_var": 599.0581182017752
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 78.0, "p95": 78.0,
"dynamic_range": 70.0, "dynamic_range": 70.0,
"mean_gray": 35.67515923566879, "mean_gray": 35.67728237791932,
"std_gray": 28.932210811254524 "std_gray": 28.934912936964782
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3999539613723755, "distance_to_center_norm": 0.3999539613723755,
@@ -802,7 +856,7 @@
"confidence": 0.1717072854797086 "confidence": 0.1717072854797086
}, },
{ {
"observation_id": "57ceb64f-09b9-4e22-8f46-6d01af4c0004", "observation_id": "b661b4b1-38a9-4660-aeea-006e6ce5bf82",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +886,14 @@
"area_px": 443.5, "area_px": 443.5,
"perimeter_px": 108.12868309020996, "perimeter_px": 108.12868309020996,
"sharpness": { "sharpness": {
"laplacian_var": 5640.742011019284 "laplacian_var": 5626.961432506887
}, },
"contrast": { "contrast": {
"p05": 22.45, "p05": 22.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 150.55, "dynamic_range": 151.0,
"mean_gray": 94.48787878787878, "mean_gray": 94.22727272727273,
"std_gray": 59.70687112164581 "std_gray": 59.67066063859887
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.20990434288978577, "distance_to_center_norm": 0.20990434288978577,
@@ -856,7 +910,7 @@
"confidence": 0.2093822185726055 "confidence": 0.2093822185726055
}, },
{ {
"observation_id": "35e0c1de-8fed-4d9a-8c86-3b38d73803ca", "observation_id": "81910a7b-a094-4e3f-9904-a990a780fb80",
"type": "aruco", "type": "aruco",
"marker_id": 66, "marker_id": 66,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +940,14 @@
"area_px": 440.0, "area_px": 440.0,
"perimeter_px": 106.54574584960938, "perimeter_px": 106.54574584960938,
"sharpness": { "sharpness": {
"laplacian_var": 3590.8840919670315 "laplacian_var": 3587.839139839907
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 179.0, "p95": 178.0,
"dynamic_range": 156.0, "dynamic_range": 155.0,
"mean_gray": 74.11480362537765, "mean_gray": 74.04833836858006,
"std_gray": 62.70926627640594 "std_gray": 62.64755938290614
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.48482945561408997, "distance_to_center_norm": 0.48482945561408997,
@@ -910,7 +964,7 @@
"confidence": 0.16725963004706537 "confidence": 0.16725963004706537
}, },
{ {
"observation_id": "e78ef00a-beef-4848-a38b-c8f8663076cd", "observation_id": "36aaead4-769d-48fd-bd90-4e0b58636ca3",
"type": "aruco", "type": "aruco",
"marker_id": 55, "marker_id": 55,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +994,14 @@
"area_px": 450.0, "area_px": 450.0,
"perimeter_px": 104.8877944946289, "perimeter_px": 104.8877944946289,
"sharpness": { "sharpness": {
"laplacian_var": 4139.5130098718755 "laplacian_var": 4148.822398655745
}, },
"contrast": { "contrast": {
"p05": 27.0, "p05": 26.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 150.0, "dynamic_range": 151.0,
"mean_gray": 88.50434782608696, "mean_gray": 87.96811594202899,
"std_gray": 61.76839029040196 "std_gray": 62.00632621477606
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2882344722747803, "distance_to_center_norm": 0.2882344722747803,
@@ -964,7 +1018,7 @@
"confidence": 0.22298824455832925 "confidence": 0.22298824455832925
}, },
{ {
"observation_id": "29005bee-121b-49ae-b499-9d2701b1f2eb", "observation_id": "c4cd60bd-3395-47e3-aeb9-dfbfd3d28063",
"type": "aruco", "type": "aruco",
"marker_id": 53, "marker_id": 53,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +1048,14 @@
"area_px": 313.0, "area_px": 313.0,
"perimeter_px": 96.17921829223633, "perimeter_px": 96.17921829223633,
"sharpness": { "sharpness": {
"laplacian_var": 4910.08346868159 "laplacian_var": 4912.033048513523
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 155.0, "p95": 155.0,
"dynamic_range": 140.0, "dynamic_range": 140.0,
"mean_gray": 91.31932773109244, "mean_gray": 91.31932773109244,
"std_gray": 54.795484199190035 "std_gray": 54.79172678350083
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7751669883728027, "distance_to_center_norm": 0.7751669883728027,
@@ -1018,7 +1072,7 @@
"confidence": 0.13595850692924102 "confidence": 0.13595850692924102
}, },
{ {
"observation_id": "3adbc624-a548-46ff-8107-f2f714b62b9f", "observation_id": "8f1fcdc1-07c7-478c-91f0-8b6b204f87af",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1102,14 @@
"area_px": 564.5, "area_px": 564.5,
"perimeter_px": 100.97909736633301, "perimeter_px": 100.97909736633301,
"sharpness": { "sharpness": {
"laplacian_var": 3179.1891357498475 "laplacian_var": 3155.4324092327183
}, },
"contrast": { "contrast": {
"p05": 34.0, "p05": 34.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 144.0, "dynamic_range": 144.0,
"mean_gray": 84.89294403892944, "mean_gray": 84.88077858880779,
"std_gray": 61.369474360657826 "std_gray": 61.34468763549915
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.15911251306533813, "distance_to_center_norm": 0.15911251306533813,
@@ -1072,7 +1126,7 @@
"confidence": 0.2298583378390498 "confidence": 0.2298583378390498
}, },
{ {
"observation_id": "fcbc80bc-52f5-4293-8ea8-20c89b8e50cf", "observation_id": "5923569e-ed26-4900-9fb4-eaf26bff079e",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1156,14 @@
"area_px": 300.5, "area_px": 300.5,
"perimeter_px": 95.67129135131836, "perimeter_px": 95.67129135131836,
"sharpness": { "sharpness": {
"laplacian_var": 4738.917789176912 "laplacian_var": 4744.144803821756
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 140.0, "p95": 140.0,
"dynamic_range": 122.0, "dynamic_range": 122.0,
"mean_gray": 76.86283185840708, "mean_gray": 76.8141592920354,
"std_gray": 48.26598262447623 "std_gray": 48.3129636265641
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31808528304100037, "distance_to_center_norm": 0.31808528304100037,
@@ -1126,7 +1180,61 @@
"confidence": 0.17248468175234963 "confidence": 0.17248468175234963
}, },
{ {
"observation_id": "5b244d03-f503-4361-a3e2-cf2c1ff8ce83", "observation_id": "57457d6a-dca9-4d18-9676-53b40ddab0dd",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
588.0,
406.0
],
[
610.0,
414.0
],
[
628.0,
434.0
],
[
608.0,
426.0
]
],
"center_px": [
608.5,
420.0
],
"quality": {
"area_px": 268.0,
"perimeter_px": 100.14157676696777,
"sharpness": {
"laplacian_var": 4564.013605442177
},
"contrast": {
"p05": 38.0,
"p95": 132.0,
"dynamic_range": 94.0,
"mean_gray": 85.76719576719577,
"std_gray": 34.59896905013278
},
"geometry": {
"distance_to_center_norm": 0.09228643029928207,
"distance_to_border_px": 286.0
},
"edge_ratio": 1.313064345191561,
"edge_lengths_px": [
23.409399032592773,
26.90724754333496,
21.540658950805664,
28.284271240234375
]
},
"confidence": 0.13606847777181952
},
{
"observation_id": "2d6cc50e-932e-4b0e-b953-2244bdfbb8b8",
"type": "aruco", "type": "aruco",
"marker_id": 51, "marker_id": 51,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1156,14 +1264,14 @@
"area_px": 297.0, "area_px": 297.0,
"perimeter_px": 92.35410118103027, "perimeter_px": 92.35410118103027,
"sharpness": { "sharpness": {
"laplacian_var": 6161.774061654949 "laplacian_var": 6183.6922444564625
}, },
"contrast": { "contrast": {
"p05": 30.0, "p05": 30.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 92.22325581395349, "mean_gray": 92.19534883720931,
"std_gray": 59.20556556651442 "std_gray": 59.22522228840405
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.20620082318782806, "distance_to_center_norm": 0.20620082318782806,
@@ -1180,7 +1288,7 @@
"confidence": 0.12157403976480062 "confidence": 0.12157403976480062
}, },
{ {
"observation_id": "b257701e-d5cf-4c8c-833c-9a0a96bbc26d", "observation_id": "10bfb191-38a0-492b-b099-3f5d8f55d630",
"type": "aruco", "type": "aruco",
"marker_id": 95, "marker_id": 95,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1210,14 +1318,14 @@
"area_px": 364.5, "area_px": 364.5,
"perimeter_px": 99.33988952636719, "perimeter_px": 99.33988952636719,
"sharpness": { "sharpness": {
"laplacian_var": 5461.123269896194 "laplacian_var": 5461.466249459343
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 88.88970588235294, "mean_gray": 88.78676470588235,
"std_gray": 65.4384727630509 "std_gray": 65.37875038036118
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.34818607568740845, "distance_to_center_norm": 0.34818607568740845,
@@ -1234,7 +1342,7 @@
"confidence": 0.14922985097126407 "confidence": 0.14922985097126407
}, },
{ {
"observation_id": "e8b44df3-65fb-432e-9bfc-aa4ec85d9674", "observation_id": "a4f3fcdd-03e3-4ee9-b1e1-08dce247b5b3",
"type": "aruco", "type": "aruco",
"marker_id": 122, "marker_id": 122,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1264,14 +1372,14 @@
"area_px": 509.0, "area_px": 509.0,
"perimeter_px": 98.6268835067749, "perimeter_px": 98.6268835067749,
"sharpness": { "sharpness": {
"laplacian_var": 586.2660619803477 "laplacian_var": 586.4522269813275
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 82.0, "p95": 82.0,
"dynamic_range": 71.0, "dynamic_range": 71.0,
"mean_gray": 33.01322751322751, "mean_gray": 33.007936507936506,
"std_gray": 27.984828366164543 "std_gray": 27.981994219567433
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.18844009935855865, "distance_to_center_norm": 0.18844009935855865,
@@ -1288,7 +1396,7 @@
"confidence": 0.1374474660290558 "confidence": 0.1374474660290558
}, },
{ {
"observation_id": "5cc4c46e-38e6-4d0c-8e5b-ad2c0298e003", "observation_id": "983c9260-ee2e-49b2-9130-ffb97aea6d3b",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1318,14 +1426,14 @@
"area_px": 283.0, "area_px": 283.0,
"perimeter_px": 88.51022148132324, "perimeter_px": 88.51022148132324,
"sharpness": { "sharpness": {
"laplacian_var": 5927.498845320012 "laplacian_var": 5918.765482137807
}, },
"contrast": { "contrast": {
"p05": 29.0, "p05": 29.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 150.0, "dynamic_range": 150.0,
"mean_gray": 124.41747572815534, "mean_gray": 124.4126213592233,
"std_gray": 57.40522358286679 "std_gray": 57.39219218845397
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2656901776790619, "distance_to_center_norm": 0.2656901776790619,
@@ -1342,7 +1450,7 @@
"confidence": 0.11373255626245794 "confidence": 0.11373255626245794
}, },
{ {
"observation_id": "73f51982-82b1-484a-99df-ba16cf7f2ae2", "observation_id": "a0c76c73-8979-4a61-95bf-d17e3d792fc9",
"type": "aruco", "type": "aruco",
"marker_id": 60, "marker_id": 60,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1396,7 +1504,7 @@
"confidence": 0.1208904643109979 "confidence": 0.1208904643109979
}, },
{ {
"observation_id": "a1ea3edd-3a9f-4a5d-85eb-743202da150d", "observation_id": "fd4fd634-9c9e-4555-b91c-718cd9fcc551",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1450,7 +1558,7 @@
"confidence": 0.15549629518828512 "confidence": 0.15549629518828512
}, },
{ {
"observation_id": "7867756a-d0c9-4e96-aa6f-1885973ff5cd", "observation_id": "4f1db03c-8bcc-4d72-96ef-9e043013c46d",
"type": "aruco", "type": "aruco",
"marker_id": 211, "marker_id": 211,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1480,14 +1588,14 @@
"area_px": 264.0, "area_px": 264.0,
"perimeter_px": 89.57206344604492, "perimeter_px": 89.57206344604492,
"sharpness": { "sharpness": {
"laplacian_var": 3848.9887886845204 "laplacian_var": 3847.8507716345493
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 131.0, "p95": 131.0,
"dynamic_range": 119.0, "dynamic_range": 119.0,
"mean_gray": 61.94764397905759, "mean_gray": 61.93717277486911,
"std_gray": 46.09661356767198 "std_gray": 46.12827811948521
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.18333308398723602, "distance_to_center_norm": 0.18333308398723602,
@@ -1504,7 +1612,7 @@
"confidence": 0.13332463075982282 "confidence": 0.13332463075982282
}, },
{ {
"observation_id": "0db37fb8-6ad5-4ced-96d7-7b8ff13f1019", "observation_id": "ae1a0231-236a-4df5-9a8c-0f5f102d6697",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1534,14 +1642,14 @@
"area_px": 253.0, "area_px": 253.0,
"perimeter_px": 89.29376602172852, "perimeter_px": 89.29376602172852,
"sharpness": { "sharpness": {
"laplacian_var": 6541.367470227771 "laplacian_var": 6538.447450572322
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 137.0, "dynamic_range": 137.0,
"mean_gray": 84.08064516129032, "mean_gray": 84.08602150537635,
"std_gray": 52.320958933010665 "std_gray": 52.32017968672461
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6974908709526062, "distance_to_center_norm": 0.6974908709526062,
@@ -1558,7 +1666,7 @@
"confidence": 0.13255097071329755 "confidence": 0.13255097071329755
}, },
{ {
"observation_id": "848bb571-2e54-474f-89ae-704020f2aaa4", "observation_id": "82e2b923-ec35-4d93-86da-a44a35959076",
"type": "aruco", "type": "aruco",
"marker_id": 86, "marker_id": 86,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1612,7 +1720,7 @@
"confidence": 0.1265670983135443 "confidence": 0.1265670983135443
}, },
{ {
"observation_id": "74036fa3-4dc1-4374-9b33-fde262445c0e", "observation_id": "f510e122-9360-430e-b678-3fc452cd914c",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1642,14 +1750,14 @@
"area_px": 236.5, "area_px": 236.5,
"perimeter_px": 85.49073791503906, "perimeter_px": 85.49073791503906,
"sharpness": { "sharpness": {
"laplacian_var": 8047.443895002974 "laplacian_var": 8043.836815883403
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 91.1890243902439, "mean_gray": 91.17073170731707,
"std_gray": 60.69009342974849 "std_gray": 60.684269846325726
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3623812198638916, "distance_to_center_norm": 0.3623812198638916,
@@ -1982,15 +2090,15 @@
368.0 368.0
], ],
[ [
783.0, 780.0,
365.0 364.0
] ]
], ],
"center_px": [ "center_px": [
788.5, 787.75,
364.5 364.25
], ],
"area_px": 50.0 "area_px": 49.0
}, },
{ {
"image_points_px": [ "image_points_px": [

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

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:28Z", "created_utc": "2026-06-01T19:31:56Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_e_aruco_detection.json", "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" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -71,10 +71,10 @@
3 3
], ],
"rms": [ "rms": [
0.007095341925032369, 0.006796723717485969,
0.0013349437109003125, 0.0003745323491999978,
0.0012927816364674517, 0.00020061727806743257,
0.0012927812569370745 0.00020061571886173784
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -83,135 +83,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 2.7749011523490723, "residual_rms_px": 0.5043766212268677,
"residual_median_px": 2.078164275946058, "residual_median_px": 0.38292305323126236,
"residual_max_px": 5.196564935359262, "residual_max_px": 0.9814498981919079,
"sigma2_normalized": 1.910038146612797e-06 "sigma2_normalized": 4.599619046205227e-08
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.6307641863822937, 0.6289841532707214,
0.7759707570075989, 0.7774180173873901,
-0.002437180606648326 0.000434672023402527
], ],
[ [
0.24203786253929138, 0.20659156143665314,
-0.19972774386405945, -0.1666075885295868,
-0.9494875073432922 -0.964137852191925
], ],
[ [
-0.7372612953186035, -0.7494657039642334,
0.5983127951622009, 0.6065172553062439,
-0.31379541754722595 -0.26540154218673706
] ]
], ],
"translation_m": [ "translation_m": [
-0.055692028254270554, -0.05472467094659805,
-0.010053127072751522, -0.01264093816280365,
1.5426626205444336 1.5504847764968872
], ],
"rvec_rad": [ "rvec_rad": [
1.7490034211859098, 1.7012126314536538,
0.8303460658691646, 0.8122343178123766,
-0.6033404001661316 -0.6182752069492911
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
1.1749072074890137, 1.1990675926208496,
-0.8817873001098633, -0.8999578952789307,
0.4743994176387787 0.3993372321128845
], ],
"position_mm": [ "position_mm": [
1174.9072265625, 1199.067626953125,
-881.7872924804688, -899.9578857421875,
474.3994140625 399.33721923828125
], ],
"orientation_deg": { "orientation_deg": {
"roll": 117.67552947998047, "roll": 113.63335418701172,
"pitch": 47.49863815307617, "pitch": 48.54411697387695,
"yaw": 20.992887496948242 "yaw": 18.182907104492188
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
5.663846922649341e-06, 1.2717291187350867e-07,
1.2187131020285088e-06, 2.427780874896666e-08,
1.418825051755898e-06, 3.113845474419147e-08,
-1.6252114155662747e-07, -4.673332748193887e-09,
-1.6271670193759301e-06, -3.7892380318380985e-08,
6.978917567451072e-07 1.3467874516895867e-08
], ],
[ [
1.2187131020285183e-06, 2.427780874896655e-08,
4.122558930254296e-06, 9.995384156486317e-08,
1.5390128559489638e-07, 1.3154364623191546e-09,
1.0002999823743167e-06, 2.4667623412376172e-08,
-1.1337782962224744e-06, -2.6975506369930083e-08,
8.312992703514572e-07 1.955433544702994e-08
], ],
[ [
1.418825051755848e-06, 3.113845474419129e-08,
1.5390128559490705e-07, 1.3154364623194096e-09,
7.880821288709876e-06, 1.7087904832897105e-07,
-1.2441730290158325e-06, -2.9090501327472707e-08,
-1.3484606758105873e-06, -2.9863326832524456e-08,
-9.509612049445034e-07 -2.129084618225427e-08
], ],
[ [
-1.6252114155663952e-07, -4.6733327481943426e-09,
1.0002999823743398e-06, 2.4667623412376583e-08,
-1.244173029015829e-06, -2.9090501327472498e-08,
6.006266124768371e-07, 1.4759067910272768e-08,
2.2984016135938396e-08, 3.9028947201990606e-10,
6.438843290101196e-07 1.570716584717209e-08
], ],
[ [
-1.6271670193759244e-06, -3.7892380318380886e-08,
-1.1337782962224748e-06, -2.697550636993014e-08,
-1.3484606758105964e-06, -2.986332683252442e-08,
2.2984016135940418e-08, 3.9028947201990363e-10,
9.18643775595386e-07, 2.1908453591880034e-08,
2.5772987300597183e-07 5.181289716536058e-09
], ],
[ [
6.978917567451163e-07, 1.3467874516896066e-08,
8.312992703514586e-07, 1.9554335447029862e-08,
-9.509612049445044e-07, -2.1290846182254186e-08,
6.438843290101158e-07, 1.570716584717197e-08,
2.577298730059702e-07, 5.1812897165360286e-09,
4.274426720275254e-06 1.0525946040964363e-07
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.1363572977261127, 0.020432426254555238,
0.11633384131256229, 0.018114334263151947,
0.16084529887405638 0.02368465378548544
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0007750010403069387, 0.00012148690427479321,
0.0009584590630774931, 0.0001480150451537952,
0.0020674686745571877 0.00032443714400426414
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.00252614437881669, 0.00040257277463770567,
0.002300959332032644, 0.00032790796768880057,
0.0030076833004178947 0.0004672187375506214
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
2.52614437881669, 0.4025727746377057,
2.300959332032644, 0.3279079676888006,
3.0076833004178947 0.46721873755062143
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.18862165343992418, "roll": 0.033455540104771676,
"pitch": 0.14056395002412728, "pitch": 0.020110839548817684,
"yaw": 0.17916027863716213 "yaw": 0.02746420892650435
} }
} }
}, },
@@ -224,10 +224,10 @@
688.5 688.5
], ],
"projected_center_px": [ "projected_center_px": [
1022.8868408203125, 1023.0628662109375,
684.736328125 688.424072265625
], ],
"reprojection_error_px": 3.7653726220141297, "reprojection_error_px": 0.09857576438942181,
"confidence": 0.15369374989294518 "confidence": 0.15369374989294518
}, },
{ {
@@ -237,10 +237,10 @@
600.5 600.5
], ],
"projected_center_px": [ "projected_center_px": [
1140.9591064453125, 1140.811279296875,
605.114501953125 600.3157348632812
], ],
"reprojection_error_px": 4.623661680481518, "reprojection_error_px": 0.47584608431768566,
"confidence": 0.3233651345714012 "confidence": 0.3233651345714012
}, },
{ {
@@ -250,10 +250,10 @@
654.75 654.75
], ],
"projected_center_px": [ "projected_center_px": [
761.7445068359375, 761.2347412109375,
652.6561889648438 655.086669921875
], ],
"reprojection_error_px": 2.4357425799203933, "reprojection_error_px": 0.8082025014470213,
"confidence": 0.420622587927407 "confidence": 0.420622587927407
}, },
{ {
@@ -263,24 +263,24 @@
665.5 665.5
], ],
"projected_center_px": [ "projected_center_px": [
675.7681884765625, 675.01904296875,
663.0847778320312 665.3643188476562
], ],
"reprojection_error_px": 2.5344450390906257, "reprojection_error_px": 0.13701098408573442,
"confidence": 0.3128949822399185 "confidence": 0.3128949822399185
}, },
{ {
"marker_id": 206, "marker_id": 206,
"observed_center_px": [ "observed_center_px": [
1223.5, 1222.5,
566.75 566.75
], ],
"projected_center_px": [ "projected_center_px": [
1222.654541015625, 1222.410888671875,
571.3515625 566.8724975585938
], ],
"reprojection_error_px": 4.678587215780706, "reprojection_error_px": 0.1514809580826271,
"confidence": 0.11623157468788738 "confidence": 0.15136171428561934
}, },
{ {
"marker_id": 97, "marker_id": 97,
@@ -289,10 +289,10 @@
578.0 578.0
], ],
"projected_center_px": [ "projected_center_px": [
411.7170715332031, 411.4060974121094,
577.7417602539062 578.2946166992188
], ],
"reprojection_error_px": 0.7621544136150133, "reprojection_error_px": 0.5017111794453887,
"confidence": 0.22596816505744277 "confidence": 0.22596816505744277
}, },
{ {
@@ -302,10 +302,10 @@
569.25 569.25
], ],
"projected_center_px": [ "projected_center_px": [
543.9366455078125, 543.713623046875,
568.3673095703125 569.260986328125
], ],
"reprojection_error_px": 0.902207814335749, "reprojection_error_px": 0.037999764793069615,
"confidence": 0.24626971873720385 "confidence": 0.24626971873720385
}, },
{ {
@@ -315,10 +315,10 @@
544.25 544.25
], ],
"projected_center_px": [ "projected_center_px": [
690.1197509765625, 690.0404663085938,
543.3026123046875 544.4671020507812
], ],
"reprojection_error_px": 0.9562992488420937, "reprojection_error_px": 0.30172449069930346,
"confidence": 0.2205630261207473 "confidence": 0.2205630261207473
}, },
{ {
@@ -328,10 +328,10 @@
467.5 467.5
], ],
"projected_center_px": [ "projected_center_px": [
777.5751953125, 777.5697021484375,
472.5607604980469 467.1872863769531
], ],
"reprojection_error_px": 5.1445661166529515, "reprojection_error_px": 0.9814498981919079,
"confidence": 0.22017552547080893 "confidence": 0.22017552547080893
}, },
{ {
@@ -341,10 +341,10 @@
556.0 556.0
], ],
"projected_center_px": [ "projected_center_px": [
738.748779296875, 738.606689453125,
554.3997802734375 555.7977294921875
], ],
"reprojection_error_px": 1.6002201921597794, "reprojection_error_px": 0.24789366909289595,
"confidence": 0.24902550615732547 "confidence": 0.24902550615732547
}, },
{ {
@@ -354,10 +354,10 @@
511.75 511.75
], ],
"projected_center_px": [ "projected_center_px": [
665.9569702148438, 666.0765991210938,
510.8033447265625 511.6878967285156
], ],
"reprojection_error_px": 1.408569252628397, "reprojection_error_px": 0.9254868986073747,
"confidence": 0.2093822185726055 "confidence": 0.2093822185726055
}, },
{ {
@@ -367,10 +367,10 @@
537.25 537.25
], ],
"projected_center_px": [ "projected_center_px": [
330.6866760253906, 330.92333984375,
537.0372924804688 537.0352172851562
], ],
"reprojection_error_px": 0.6021448241368856, "reprojection_error_px": 0.39094561293986413,
"confidence": 0.16725963004706537 "confidence": 0.16725963004706537
}, },
{ {
@@ -380,10 +380,10 @@
534.0 534.0
], ],
"projected_center_px": [ "projected_center_px": [
519.3466796875, 519.4425048828125,
533.4042358398438 533.968017578125
], ],
"reprojection_error_px": 0.6151764403419393, "reprojection_error_px": 0.06579182175160403,
"confidence": 0.22298824455832925 "confidence": 0.22298824455832925
}, },
{ {
@@ -393,10 +393,10 @@
466.0 466.0
], ],
"projected_center_px": [ "projected_center_px": [
1200.085205078125, 1199.552001953125,
463.62249755859375 465.9305725097656
], ],
"reprojection_error_px": 2.5199375749050743, "reprojection_error_px": 0.30987958321186465,
"confidence": 0.13595850692924102 "confidence": 0.13595850692924102
}, },
{ {
@@ -406,10 +406,10 @@
444.5 444.5
], ],
"projected_center_px": [ "projected_center_px": [
858.741943359375, 858.6062622070312,
449.60101318359375 444.6478271484375
], ],
"reprojection_error_px": 5.196564935359262, "reprojection_error_px": 0.8689291300245319,
"confidence": 0.17248468175234963 "confidence": 0.17248468175234963
}, },
{ {
@@ -419,10 +419,10 @@
463.25 463.25
], ],
"projected_center_px": [ "projected_center_px": [
528.1810913085938, 528.8941650390625,
462.8843994140625 463.13134765625
], ],
"reprojection_error_px": 1.12970331459267, "reprojection_error_px": 0.3750958518869015,
"confidence": 0.12157403976480062 "confidence": 0.12157403976480062
}, },
{ {
@@ -432,10 +432,10 @@
498.75 498.75
], ],
"projected_center_px": [ "projected_center_px": [
425.3331298828125, 425.9017333984375,
498.75323486328125 498.8298034667969
], ],
"reprojection_error_px": 0.08319279870799132, "reprojection_error_px": 0.6566011087042826,
"confidence": 0.14922985097126407 "confidence": 0.14922985097126407
}, },
{ {
@@ -445,10 +445,10 @@
447.25 447.25
], ],
"projected_center_px": [ "projected_center_px": [
464.1731262207031, 465.2051086425781,
447.00830078125 447.0129699707031
], ],
"reprojection_error_px": 1.3487077290984628, "reprojection_error_px": 0.3783439539236665,
"confidence": 0.11373255626245794 "confidence": 0.11373255626245794
}, },
{ {
@@ -458,10 +458,10 @@
431.0 431.0
], ],
"projected_center_px": [ "projected_center_px": [
1196.6109619140625, 1195.8790283203125,
428.8692932128906 431.05682373046875
], ],
"reprojection_error_px": 2.298078943400361, "reprojection_error_px": 0.14098667946671503,
"confidence": 0.1208904643109979 "confidence": 0.1208904643109979
}, },
{ {
@@ -471,10 +471,10 @@
455.5 455.5
], ],
"projected_center_px": [ "projected_center_px": [
1134.412109375, 1133.9239501953125,
453.6326904296875 455.70294189453125
], ],
"reprojection_error_px": 2.0781695174704935, "reprojection_error_px": 0.47002040451605914,
"confidence": 0.15549629518828512 "confidence": 0.15549629518828512
}, },
{ {
@@ -484,10 +484,10 @@
413.0 413.0
], ],
"projected_center_px": [ "projected_center_px": [
763.891845703125, 764.12890625,
417.86798095703125 412.9070129394531
], ],
"reprojection_error_px": 4.870047104650417, "reprojection_error_px": 0.39014938128646404,
"confidence": 0.13332463075982282 "confidence": 0.13332463075982282
}, },
{ {
@@ -497,10 +497,10 @@
429.0 429.0
], ],
"projected_center_px": [ "projected_center_px": [
1148.4207763671875, 1147.78271484375,
427.11407470703125 429.1512756347656
], ],
"reprojection_error_px": 2.0987003904869974, "reprojection_error_px": 0.32064310463555845,
"confidence": 0.13255097071329755 "confidence": 0.13255097071329755
}, },
{ {
@@ -510,10 +510,10 @@
408.75 408.75
], ],
"projected_center_px": [ "projected_center_px": [
1127.431396484375, 1126.7515869140625,
406.6729736328125 408.60955810546875
], ],
"reprojection_error_px": 2.078159034421623, "reprojection_error_px": 0.7614762458159929,
"confidence": 0.1265670983135443 "confidence": 0.1265670983135443
}, },
{ {
@@ -523,10 +523,10 @@
409.25 409.25
], ],
"projected_center_px": [ "projected_center_px": [
377.0504150390625, 378.78729248046875,
409.83306884765625 409.5100402832031
], ],
"reprojection_error_px": 1.5624550681806375, "reprojection_error_px": 0.3875021525388582,
"confidence": 0.09620577544552089 "confidence": 0.09620577544552089
} }
] ]

450
data/evaluations/Scene9/render_f_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:25Z", "created_utc": "2026-06-01T19:31:52Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,7 +35,7 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_f.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_f.png",
"image_sha256": "27a53f6a3c44d4dbe0eee4035fc45c81c1862a721997b1353cdc170751531c25", "image_sha256": "f329ce8c039e3611cde2e6a8de66a3fb75112c50deed4734c9b21fba89656d02",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
@@ -46,7 +46,7 @@
}, },
"detections": [ "detections": [
{ {
"observation_id": "b692e820-943c-443a-93c1-ab9cf072223b", "observation_id": "2a8d0727-bf79-4bb8-b6a4-4f3ff5257860",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1364.0, "area_px": 1364.0,
"perimeter_px": 148.0306053161621, "perimeter_px": 148.0306053161621,
"sharpness": { "sharpness": {
"laplacian_var": 3227.5051808222574 "laplacian_var": 3228.5182812589387
}, },
"contrast": { "contrast": {
"p05": 73.0, "p05": 73.0,
"p95": 192.0, "p95": 192.0,
"dynamic_range": 119.0, "dynamic_range": 119.0,
"mean_gray": 117.83842794759825, "mean_gray": 117.83842794759825,
"std_gray": 50.76502173337254 "std_gray": 50.765924936383804
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.30916711688041687, "distance_to_center_norm": 0.30916711688041687,
@@ -100,7 +100,7 @@
"confidence": 0.850354724870378 "confidence": 0.850354724870378
}, },
{ {
"observation_id": "c8cb0486-8380-42ef-a2ec-8bd83cf4ed68", "observation_id": "4ca6ecba-1724-49e6-a0c1-084ada1e5db5",
"type": "aruco", "type": "aruco",
"marker_id": 41, "marker_id": 41,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 847.0, "area_px": 847.0,
"perimeter_px": 121.71682739257812, "perimeter_px": 121.71682739257812,
"sharpness": { "sharpness": {
"laplacian_var": 1506.861052631579 "laplacian_var": 1507.8680701754388
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 136.0, "p95": 136.0,
"dynamic_range": 117.0, "dynamic_range": 117.0,
"mean_gray": 52.57017543859649, "mean_gray": 52.5719298245614,
"std_gray": 41.99406167255908 "std_gray": 41.99719186262282
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2223740816116333, "distance_to_center_norm": 0.2223740816116333,
@@ -154,7 +154,7 @@
"confidence": 0.3023072583773299 "confidence": 0.3023072583773299
}, },
{ {
"observation_id": "5f08a3e6-f8f1-427f-a9a0-599da1ef647c", "observation_id": "a083ce5b-37fc-4841-865f-b5044e29344f",
"type": "aruco", "type": "aruco",
"marker_id": 46, "marker_id": 46,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.2988751797371847 "confidence": 0.2988751797371847
}, },
{ {
"observation_id": "eb435cda-5ceb-41bc-8e8d-94405295608c", "observation_id": "b267868e-b86a-4654-ab4d-467e56093933",
"type": "aruco", "type": "aruco",
"marker_id": 56, "marker_id": 56,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
"confidence": 0.5697620483284124 "confidence": 0.5697620483284124
}, },
{ {
"observation_id": "fa8a4389-f47a-4464-839c-7fa213b4a673", "observation_id": "9c76aa98-02ab-4656-8401-f92c7171a489",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +292,14 @@
"area_px": 912.0, "area_px": 912.0,
"perimeter_px": 120.84554862976074, "perimeter_px": 120.84554862976074,
"sharpness": { "sharpness": {
"laplacian_var": 1802.1494048483087 "laplacian_var": 1803.8428631695458
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 145.0, "p95": 145.0,
"dynamic_range": 133.0, "dynamic_range": 133.0,
"mean_gray": 55.295180722891565, "mean_gray": 55.28463855421687,
"std_gray": 54.915407901310715 "std_gray": 54.91281703636554
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3649789094924927, "distance_to_center_norm": 0.3649789094924927,
@@ -316,7 +316,61 @@
"confidence": 0.5829305549976826 "confidence": 0.5829305549976826
}, },
{ {
"observation_id": "fadb8bf3-766f-465b-916a-626bbd838067", "observation_id": "e37e2597-10ca-45e4-9dab-95713ec868ac",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
731.0,
642.0
],
[
760.0,
633.0
],
[
770.0,
661.0
],
[
742.0,
671.0
]
],
"center_px": [
750.75,
651.75
],
"quality": {
"area_px": 912.0,
"perimeter_px": 120.84485244750977,
"sharpness": {
"laplacian_var": 1921.1191904573463
},
"contrast": {
"p05": 24.0,
"p95": 173.0,
"dynamic_range": 149.0,
"mean_gray": 47.443609022556394,
"std_gray": 48.356821218971035
},
"geometry": {
"distance_to_center_norm": 0.424979567527771,
"distance_to_border_px": 49.0
},
"edge_ratio": 1.0431851573911375,
"edge_lengths_px": [
30.364452362060547,
29.73213768005371,
29.73213768005371,
31.016124725341797
]
},
"confidence": 0.5711737708098855
},
{
"observation_id": "c9f2fba8-95a9-49b6-ba6a-addfbfb2252d",
"type": "aruco", "type": "aruco",
"marker_id": 47, "marker_id": 47,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +400,14 @@
"area_px": 902.5, "area_px": 902.5,
"perimeter_px": 120.18319702148438, "perimeter_px": 120.18319702148438,
"sharpness": { "sharpness": {
"laplacian_var": 2762.5349763349386 "laplacian_var": 2768.1846824619074
}, },
"contrast": { "contrast": {
"p05": 32.0, "p05": 32.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 80.91476407914764, "mean_gray": 80.882800608828,
"std_gray": 61.77175085453998 "std_gray": 61.76197713689439
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3646650016307831, "distance_to_center_norm": 0.3646650016307831,
@@ -370,61 +424,7 @@
"confidence": 0.5768583617164568 "confidence": 0.5768583617164568
}, },
{ {
"observation_id": "18122e61-ee7f-4081-b50d-e723ea6f4497", "observation_id": "7bd5400e-a94b-4cd0-9e6e-889c38f93172",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
732.0,
642.0
],
[
760.0,
633.0
],
[
770.0,
661.0
],
[
742.0,
671.0
]
],
"center_px": [
751.0,
651.75
],
"quality": {
"area_px": 893.0,
"perimeter_px": 119.55088233947754,
"sharpness": {
"laplacian_var": 1943.5244603528427
},
"contrast": {
"p05": 24.0,
"p95": 173.0,
"dynamic_range": 149.0,
"mean_gray": 48.010802469135804,
"std_gray": 48.85571671919436
},
"geometry": {
"distance_to_center_norm": 0.42510050535202026,
"distance_to_border_px": 49.0
},
"edge_ratio": 1.043005886014016,
"edge_lengths_px": [
29.4108829498291,
29.73213768005371,
29.73213768005371,
30.675724029541016
]
},
"confidence": 0.5593704450665263
},
{
"observation_id": "bc5f689c-f497-4532-80d1-dd04edbeaa2e",
"type": "aruco", "type": "aruco",
"marker_id": 54, "marker_id": 54,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 893.0, "area_px": 893.0,
"perimeter_px": 119.5506706237793, "perimeter_px": 119.5506706237793,
"sharpness": { "sharpness": {
"laplacian_var": 2063.073994660255 "laplacian_var": 2064.3647090033364
}, },
"contrast": { "contrast": {
"p05": 35.0, "p05": 35.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 143.0, "dynamic_range": 143.0,
"mean_gray": 64.78315132605304, "mean_gray": 64.77535101404057,
"std_gray": 52.03063507216668 "std_gray": 52.03964123456451
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4033917188644409, "distance_to_center_norm": 0.4033917188644409,
@@ -478,7 +478,7 @@
"confidence": 0.5766374039623903 "confidence": 0.5766374039623903
}, },
{ {
"observation_id": "025466dc-8c10-42eb-80e1-40f666094ab5", "observation_id": "c26a0a95-0bbd-440a-a258-6cc80f50e6d6",
"type": "aruco", "type": "aruco",
"marker_id": 53, "marker_id": 53,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.21364841201201337 "confidence": 0.21364841201201337
}, },
{ {
"observation_id": "35007e1d-283e-4aa7-bc58-833113b81bd3", "observation_id": "56f82b04-b73d-496b-b6d9-ecd8ac5d4152",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 883.5, "area_px": 883.5,
"perimeter_px": 118.95157814025879, "perimeter_px": 118.95157814025879,
"sharpness": { "sharpness": {
"laplacian_var": 2554.664036881293 "laplacian_var": 2554.6267698005477
}, },
"contrast": { "contrast": {
"p05": 33.0, "p05": 33.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 78.6692546583851, "mean_gray": 78.66770186335404,
"std_gray": 62.81401304524487 "std_gray": 62.81512962356601
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.08693984150886536, "distance_to_center_norm": 0.08693984150886536,
@@ -586,7 +586,7 @@
"confidence": 0.5464657910873614 "confidence": 0.5464657910873614
}, },
{ {
"observation_id": "d99b116c-e245-41f8-83c9-ea3b6061e5ed", "observation_id": "098d3e8d-b0c1-4d8b-8f0d-a128abaff0f2",
"type": "aruco", "type": "aruco",
"marker_id": 97, "marker_id": 97,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 883.5, "area_px": 883.5,
"perimeter_px": 118.91835594177246, "perimeter_px": 118.91835594177246,
"sharpness": { "sharpness": {
"laplacian_var": 2660.0162285430574 "laplacian_var": 2657.272976847311
}, },
"contrast": { "contrast": {
"p05": 39.0, "p05": 39.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 104.5631825273011, "mean_gray": 104.53354134165366,
"std_gray": 63.931585058018435 "std_gray": 63.91462139586315
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3904455602169037, "distance_to_center_norm": 0.3904455602169037,
@@ -640,7 +640,7 @@
"confidence": 0.5705029634947052 "confidence": 0.5705029634947052
}, },
{ {
"observation_id": "7ce8593d-fec2-4640-afaa-d510ffc06456", "observation_id": "5e323a72-2c44-404b-b468-22d364bfa8d3",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -694,61 +694,7 @@
"confidence": 0.5440516905787338 "confidence": 0.5440516905787338
}, },
{ {
"observation_id": "e2eba250-5e42-4a2b-a480-1e661be24ca0", "observation_id": "2eb6590f-d013-4801-974c-294316d7a948",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
580.0,
534.0
],
[
608.0,
524.0
],
[
618.0,
552.0
],
[
589.0,
561.0
]
],
"center_px": [
598.75,
542.75
],
"quality": {
"area_px": 874.0,
"perimeter_px": 118.28922653198242,
"sharpness": {
"laplacian_var": 2676.8246345669586
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 89.43285939968405,
"std_gray": 63.56665341033047
},
"geometry": {
"distance_to_center_norm": 0.2551368772983551,
"distance_to_border_px": 159.0
},
"edge_ratio": 1.0668981090236382,
"edge_lengths_px": [
29.73213768005371,
29.73213768005371,
30.364452362060547,
28.460498809814453
]
},
"confidence": 0.5461315019106076
},
{
"observation_id": "1e3b6db9-8873-4bc2-9b38-37b1f5c2ce1d",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +724,14 @@
"area_px": 874.0, "area_px": 874.0,
"perimeter_px": 118.28604125976562, "perimeter_px": 118.28604125976562,
"sharpness": { "sharpness": {
"laplacian_var": 2517.0525056080755 "laplacian_var": 2518.246872997116
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 175.0, "p95": 175.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 89.73892405063292, "mean_gray": 89.71835443037975,
"std_gray": 67.28467675053966 "std_gray": 67.28232444039241
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.36455342173576355, "distance_to_center_norm": 0.36455342173576355,
@@ -802,7 +748,61 @@
"confidence": 0.5763709732716893 "confidence": 0.5763709732716893
}, },
{ {
"observation_id": "317bcb38-4b5c-4df2-a7cd-9608db191e71", "observation_id": "406545f9-4df1-4635-81dd-4e72d9c5a319",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
580.0,
534.0
],
[
608.0,
524.0
],
[
617.0,
552.0
],
[
589.0,
561.0
]
],
"center_px": [
598.5,
542.75
],
"quality": {
"area_px": 855.5,
"perimeter_px": 117.01440238952637,
"sharpness": {
"laplacian_var": 2664.507264459966
},
"contrast": {
"p05": 34.0,
"p95": 179.0,
"dynamic_range": 145.0,
"mean_gray": 90.6904376012966,
"std_gray": 63.65501470595472
},
"geometry": {
"distance_to_center_norm": 0.25521203875541687,
"distance_to_border_px": 159.0
},
"edge_ratio": 1.0446808356640869,
"edge_lengths_px": [
29.73213768005371,
29.4108829498291,
29.4108829498291,
28.460498809814453
]
},
"confidence": 0.5459402660246769
},
{
"observation_id": "1720e5f9-2ead-4a82-bd55-018165815177",
"type": "aruco", "type": "aruco",
"marker_id": 42, "marker_id": 42,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 585.5, "area_px": 585.5,
"perimeter_px": 116.89850807189941, "perimeter_px": 116.89850807189941,
"sharpness": { "sharpness": {
"laplacian_var": 3624.8468728428306 "laplacian_var": 3627.5501147380924
}, },
"contrast": { "contrast": {
"p05": 33.0, "p05": 33.0,
"p95": 190.0, "p95": 190.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 87.31670822942644, "mean_gray": 87.3142144638404,
"std_gray": 64.61624252571332 "std_gray": 64.61808786435712
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.30038711428642273, "distance_to_center_norm": 0.30038711428642273,
@@ -856,7 +856,7 @@
"confidence": 0.2932628535560303 "confidence": 0.2932628535560303
}, },
{ {
"observation_id": "0067d828-93d9-42c6-a0f8-8f92c60fe7ad", "observation_id": "5bc08370-ea36-47b5-bef0-080d37206e25",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.06519221426443914 "confidence": 0.06519221426443914
}, },
{ {
"observation_id": "e88fa055-3e8d-4ae8-b351-530496cb5a3d", "observation_id": "b20314dc-0558-4337-a86e-f98da0130026",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 846.5, "area_px": 846.5,
"perimeter_px": 116.4027042388916, "perimeter_px": 116.4027042388916,
"sharpness": { "sharpness": {
"laplacian_var": 3363.1732604258514 "laplacian_var": 3358.4696762573444
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 25.0,
"p95": 175.0, "p95": 175.0,
"dynamic_range": 149.0, "dynamic_range": 150.0,
"mean_gray": 99.23316912972085, "mean_gray": 99.04269293924466,
"std_gray": 64.63837627900452 "std_gray": 64.64526024052971
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.26983729004859924, "distance_to_center_norm": 0.26983729004859924,
@@ -964,7 +964,7 @@
"confidence": 0.5460974493377216 "confidence": 0.5460974493377216
}, },
{ {
"observation_id": "ace2036b-21f1-409b-8d25-531f5a599d13", "observation_id": "76aeb719-b188-42ab-85eb-5293d742bec1",
"type": "aruco", "type": "aruco",
"marker_id": 66, "marker_id": 66,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 838.0, "area_px": 838.0,
"perimeter_px": 115.8120174407959, "perimeter_px": 115.8120174407959,
"sharpness": { "sharpness": {
"laplacian_var": 2222.0612838076404 "laplacian_var": 2223.549399053739
}, },
"contrast": { "contrast": {
"p05": 43.0, "p05": 43.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 139.0, "dynamic_range": 139.0,
"mean_gray": 85.60168067226891, "mean_gray": 85.58319327731093,
"std_gray": 57.85354732729715 "std_gray": 57.838846414056896
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31469058990478516, "distance_to_center_norm": 0.31469058990478516,
@@ -1018,7 +1018,7 @@
"confidence": 0.5349107016469481 "confidence": 0.5349107016469481
}, },
{ {
"observation_id": "7cb60d0f-3d2c-40ae-9708-4f320ee5edf1", "observation_id": "4ebc6b18-4608-4b8d-b5d3-38ccb97c2fe2",
"type": "aruco", "type": "aruco",
"marker_id": 95, "marker_id": 95,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 819.0, "area_px": 819.0,
"perimeter_px": 114.49213600158691, "perimeter_px": 114.49213600158691,
"sharpness": { "sharpness": {
"laplacian_var": 2506.9708349769885 "laplacian_var": 2507.230664036818
}, },
"contrast": { "contrast": {
"p05": 38.0, "p05": 38.0,
"p95": 182.0, "p95": 181.0,
"dynamic_range": 144.0, "dynamic_range": 143.0,
"mean_gray": 93.93333333333334, "mean_gray": 93.85641025641026,
"std_gray": 63.50589716206657 "std_gray": 63.451845102745445
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1608557105064392, "distance_to_center_norm": 0.1608557105064392,
@@ -1072,7 +1072,7 @@
"confidence": 0.5227826547122322 "confidence": 0.5227826547122322
}, },
{ {
"observation_id": "57929e2e-daec-42e0-b7c4-8c0a288c193b", "observation_id": "46214a6d-c5a0-4be6-ab7f-c9ee6017e3fa",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 783.0, "area_px": 783.0,
"perimeter_px": 111.9482650756836, "perimeter_px": 111.9482650756836,
"sharpness": { "sharpness": {
"laplacian_var": 2587.882879636393 "laplacian_var": 2586.4666634201767
}, },
"contrast": { "contrast": {
"p05": 34.0, "p05": 34.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 118.48108108108109, "mean_gray": 118.47567567567567,
"std_gray": 65.35762397336578 "std_gray": 65.36718770260096
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.07005522400140762, "distance_to_center_norm": 0.07005522400140762,
@@ -1126,7 +1126,7 @@
"confidence": 0.5046333482067283 "confidence": 0.5046333482067283
}, },
{ {
"observation_id": "33c8d8ff-3409-462e-91d5-59065c532b88", "observation_id": "2ffc4199-30e7-4241-adfa-0335e09b6a9e",
"type": "aruco", "type": "aruco",
"marker_id": 52, "marker_id": 52,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.4723088830007061 "confidence": 0.4723088830007061
}, },
{ {
"observation_id": "e972de75-cbe8-4adb-acb1-5ac102dbb06c", "observation_id": "f7e333b0-5bb0-42ad-b666-2e4eb0e0b19b",
"type": "aruco", "type": "aruco",
"marker_id": 73, "marker_id": 73,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
"confidence": 0.13607001327160623 "confidence": 0.13607001327160623
}, },
{ {
"observation_id": "62901942-1493-4f5f-8f08-24a28c275c68", "observation_id": "27055d16-ed3f-40d3-8cd9-2d67c3eeba31",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
"confidence": 0.46988879526830113 "confidence": 0.46988879526830113
}, },
{ {
"observation_id": "0beb85e9-1740-426c-b7d1-2228ad200a96", "observation_id": "e407bed6-2b00-4fd6-a618-c3d6f3bc781c",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 748.0, "area_px": 748.0,
"perimeter_px": 109.43704223632812, "perimeter_px": 109.43704223632812,
"sharpness": { "sharpness": {
"laplacian_var": 2757.5715566221866 "laplacian_var": 2757.4905701976318
}, },
"contrast": { "contrast": {
"p05": 37.0, "p05": 37.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 90.97528517110266, "mean_gray": 90.97718631178707,
"std_gray": 62.23640503443859 "std_gray": 62.229578112688166
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.16754259169101715, "distance_to_center_norm": 0.16754259169101715,
@@ -1342,7 +1342,7 @@
"confidence": 0.4655541127751829 "confidence": 0.4655541127751829
}, },
{ {
"observation_id": "f73fbd6a-0a4c-44dc-a190-638c0a7ff53f", "observation_id": "2e1ede3a-c7fe-439b-90ef-85bf1ba0e1c8",
"type": "aruco", "type": "aruco",
"marker_id": 69, "marker_id": 69,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1372,14 +1372,14 @@
"area_px": 748.0, "area_px": 748.0,
"perimeter_px": 109.43704223632812, "perimeter_px": 109.43704223632812,
"sharpness": { "sharpness": {
"laplacian_var": 2619.252494338006 "laplacian_var": 2619.733639627118
}, },
"contrast": { "contrast": {
"p05": 43.0, "p05": 43.0,
"p95": 184.0, "p95": 184.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 95.33396584440227, "mean_gray": 95.3225806451613,
"std_gray": 60.17399221989553 "std_gray": 60.163268710062376
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2758673429489136, "distance_to_center_norm": 0.2758673429489136,
@@ -1396,7 +1396,7 @@
"confidence": 0.4655541127751829 "confidence": 0.4655541127751829
}, },
{ {
"observation_id": "e9dbedb1-bf63-489a-8cae-e087461fdc0c", "observation_id": "33020ba4-ed59-4050-be29-687541b8a0bf",
"type": "aruco", "type": "aruco",
"marker_id": 82, "marker_id": 82,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
"confidence": 0.49001748422717006 "confidence": 0.49001748422717006
}, },
{ {
"observation_id": "8b088a43-cdb6-422f-8af6-3f10b66ed956", "observation_id": "0eb323eb-9b86-4903-8e6a-832bad60ccda",
"type": "aruco", "type": "aruco",
"marker_id": 101, "marker_id": 101,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
"confidence": 0.46225891142368675 "confidence": 0.46225891142368675
}, },
{ {
"observation_id": "556255e3-e0cd-40f1-823f-b257acf2a73a", "observation_id": "b58a9d3d-e3ea-4fef-b1f4-debc45a55196",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 721.5, "area_px": 721.5,
"perimeter_px": 107.59993743896484, "perimeter_px": 107.59993743896484,
"sharpness": { "sharpness": {
"laplacian_var": 2673.737962944809 "laplacian_var": 2674.3662150769533
}, },
"contrast": { "contrast": {
"p05": 35.0, "p05": 35.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 90.34059405940594, "mean_gray": 90.34257425742574,
"std_gray": 63.31876636436088 "std_gray": 63.31705125408015
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2656291127204895, "distance_to_center_norm": 0.2656291127204895,
@@ -1558,7 +1558,7 @@
"confidence": 0.43211414091114625 "confidence": 0.43211414091114625
}, },
{ {
"observation_id": "e664659a-d231-47bb-a0f0-4a2ee611e4e1", "observation_id": "29765d94-4fb4-4602-abd7-a04e692936c8",
"type": "aruco", "type": "aruco",
"marker_id": 81, "marker_id": 81,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 715.0, "area_px": 715.0,
"perimeter_px": 106.99296569824219, "perimeter_px": 106.99296569824219,
"sharpness": { "sharpness": {
"laplacian_var": 533.7372646340822 "laplacian_var": 533.1577877729152
}, },
"contrast": { "contrast": {
"p05": 3.0, "p05": 3.0,
"p95": 79.0, "p95": 79.0,
"dynamic_range": 76.0, "dynamic_range": 76.0,
"mean_gray": 29.185110663983902, "mean_gray": 29.183098591549296,
"std_gray": 31.017194226167682 "std_gray": 31.015292457977264
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5639258027076721, "distance_to_center_norm": 0.5639258027076721,
@@ -1612,7 +1612,7 @@
"confidence": 0.4468602604238168 "confidence": 0.4468602604238168
}, },
{ {
"observation_id": "5032ce03-aa16-4b13-bfbe-16806d4ffeaa", "observation_id": "6f9da7d0-5b62-4aad-b419-b2e0485ec322",
"type": "aruco", "type": "aruco",
"marker_id": 83, "marker_id": 83,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
"confidence": 0.4377857805109236 "confidence": 0.4377857805109236
}, },
{ {
"observation_id": "f775f2d4-3851-46d0-9958-9cb93bb49665", "observation_id": "23836056-6e03-4a5b-b241-e67e295d351d",
"type": "aruco", "type": "aruco",
"marker_id": 75, "marker_id": 75,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
"confidence": 0.22473325223116958 "confidence": 0.22473325223116958
}, },
{ {
"observation_id": "ea5c0b5a-c212-4b01-a7ba-6937c4766ab1", "observation_id": "cf1312af-e0e8-4f19-94e4-967311f199a7",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1750,14 +1750,14 @@
"area_px": 286.0, "area_px": 286.0,
"perimeter_px": 90.66044521331787, "perimeter_px": 90.66044521331787,
"sharpness": { "sharpness": {
"laplacian_var": 5858.035190733776 "laplacian_var": 5882.42627038549
}, },
"contrast": { "contrast": {
"p05": 41.0, "p05": 41.0,
"p95": 163.0, "p95": 163.89999999999998,
"dynamic_range": 122.0, "dynamic_range": 122.89999999999998,
"mean_gray": 74.92825112107623, "mean_gray": 74.9372197309417,
"std_gray": 43.15478721153959 "std_gray": 43.222291265332764
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.14344164729118347, "distance_to_center_norm": 0.14344164729118347,
@@ -1800,6 +1800,31 @@
], ],
"area_px": 770.0 "area_px": 770.0
}, },
{
"image_points_px": [
[
712.0,
365.0
],
[
708.0,
374.0
],
[
667.0,
395.0
],
[
685.0,
376.0
]
],
"center_px": [
693.0,
377.5
],
"area_px": 300.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1925,31 +1950,6 @@
], ],
"area_px": 48.5 "area_px": 48.5
}, },
{
"image_points_px": [
[
800.0,
531.0
],
[
804.0,
535.0
],
[
808.0,
551.0
],
[
805.0,
547.0
]
],
"center_px": [
804.25,
541.0
],
"area_px": 38.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [

400
data/evaluations/Scene9/render_f_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:28Z", "created_utc": "2026-06-01T19:31:56Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -41,14 +41,14 @@
46, 46,
56, 56,
208, 208,
47,
62, 62,
47,
54, 54,
53, 53,
97, 97,
72, 72,
55,
96, 96,
55,
84, 84,
79, 79,
66, 66,
@@ -72,170 +72,152 @@
1, 1,
2, 2,
3, 3,
4, 4
5,
6,
7,
8,
9,
10
], ],
"rms": [ "rms": [
0.015701356394471733, 0.006707713100217388,
0.015297855069293168, 0.00032323513324893587,
0.011524674965863707, 9.283376125887356e-05,
0.008661433675275389, 9.281704803054826e-05,
0.00789850187690886, 9.28170426690544e-05
0.007842132486163736,
0.007839540532042596,
0.007839421032317734,
0.007839415701149656,
0.007839415464271995,
0.007839415453743833
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125,
6.25e-05, 6.25e-05
3.125e-05,
1.5625e-05,
7.8125e-06,
3.90625e-06,
1.953125e-06,
9.765625e-07
] ]
}, },
"residual_rms_px": 18.137879039135672, "residual_rms_px": 0.23334399908685183,
"residual_median_px": 15.891270492416046, "residual_median_px": 0.1870912726292264,
"residual_max_px": 32.8404433163514, "residual_max_px": 0.40319593494158207,
"sigma2_normalized": 6.913848898029083e-05 "sigma2_normalized": 9.691878835940337e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.3255375623703003, 0.316351056098938,
0.8988600373268127, 0.9486415982246399,
0.29338693618774414 0.001080734422430396
], ],
[ [
0.9455116391181946, 0.9182730317115784,
-0.3075793981552124, -0.3059374690055847,
-0.1067829430103302 -0.2513502538204193
], ],
[ [
-0.005743145477026701, -0.23811066150665283,
0.3121626079082489, 0.08050733059644699,
-0.9500113129615784 -0.9678955674171448
] ]
], ],
"translation_m": [ "translation_m": [
0.12255793809890747, 0.12613926827907562,
-0.1998891979455948, -0.2001587450504303,
1.2935380935668945 1.4977153539657593
], ],
"rvec_rad": [ "rvec_rad": [
2.334443448932517, 2.374476599430968,
1.6668089931536274, 1.711440115585211,
0.2599515229751258 -0.21729035188815377
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.15652933716773987, 0.5005180835723877,
-0.5754384398460388, -0.30147409439086914,
1.1715742349624634 1.3991857767105103
], ],
"position_mm": [ "position_mm": [
156.5293426513672, 500.5180969238281,
-575.4384155273438, -301.4740905761719,
1171.57421875 1399.185791015625
], ],
"orientation_deg": { "orientation_deg": {
"roll": 161.81007385253906, "roll": 175.2451934814453,
"pitch": 0.32905977964401245, "pitch": 13.775056838989258,
"yaw": 71.00152587890625 "yaw": 70.99082946777344
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
0.0006521111112735179, 1.9002958413404713e-07,
0.00036528966280300094, 1.1837783288932988e-07,
-0.00010637666565730888, 9.183307334144345e-09,
1.1187114044635454e-06, -1.421152264293451e-09,
2.7785039095203165e-05, -4.80901041975431e-11,
0.00014853189086861253 6.295569445241994e-09
], ],
[ [
0.00036528966280300365, 1.1837783288933028e-07,
0.0003633076638036935, 1.0186858695166667e-07,
2.562778432160452e-05, -1.1387842289719417e-08,
2.6092071905066404e-05, 2.713102128429108e-09,
1.6263683163092177e-05, -6.313640712954697e-10,
7.600815489637061e-05 7.782273519940925e-09
], ],
[ [
-0.00010637666565727772, 9.183307334129218e-09,
2.562778432162969e-05, -1.1387842289732227e-08,
0.0017152116736520494, 7.393530626994133e-07,
5.891878151451568e-05, 5.332503565472768e-09,
3.901380666156852e-07, -1.0402973386703037e-08,
-0.0004990497236999936 -1.3161071895442165e-07
], ],
[ [
1.118711404465086e-06, -1.4211522642934563e-09,
2.609207190506745e-05, 2.713102128429062e-09,
5.8918781514514094e-05, 5.332503565473096e-09,
1.0796844344238786e-05, 1.608555076683044e-09,
6.555994303168036e-07, -1.1432774482875861e-10,
-3.3813792197815607e-06 1.4711003560843765e-09
], ],
[ [
2.77850390952032e-05, -4.8090104197252785e-11,
1.626368316309203e-05, -6.313640712953735e-10,
3.901380666137898e-07, -1.0402973386703037e-08,
6.555994303167142e-07, -1.1432774482876895e-10,
5.6739233703903745e-06, 9.580907483059548e-10,
8.500206420348859e-06 2.4371649503792927e-09
], ],
[ [
0.00014853189086860418, 6.2955694452450886e-09,
7.600815489636319e-05, 7.782273519943473e-09,
-0.0004990497237000007, -1.3161071895442122e-07,
-3.3813792197823214e-06, 1.471100356084429e-09,
8.500206420348362e-06, 2.437164950379249e-09,
0.0002672399327877841 4.3127367654869555e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
1.4631317428727735, 0.02497659555434529,
1.0920937257134558, 0.01828701299041631,
2.3729112444167018 0.049266143842706674
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0032858551922199473, 4.010679589150752e-05,
0.0023819998678401254, 3.095304101871018e-05,
0.016347474813798737 0.00020767129713773533
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.03722572649769533, 0.0007939838979023073,
0.030657108809873723, 0.0008230828338362719,
0.024724327431695548 0.000365389697077695
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
37.22572649769533, 0.7939838979023073,
30.657108809873723, 0.8230828338362719,
24.72432743169555 0.36538969707769503
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 1.232318313836353, "roll": 0.03581906011046001,
"pitch": 1.6371795162133258, "pitch": 0.032469968338037475,
"yaw": 0.48210298661799955 "yaw": 0.006408900050073852
} }
} }
}, },
@@ -248,10 +230,10 @@
666.0 666.0
], ],
"projected_center_px": [ "projected_center_px": [
1229.82373046875, 1234.344482421875,
636.6405029296875 665.8756103515625
], ],
"reprojection_error_px": 29.655038280523858, "reprojection_error_px": 0.3662525407683479,
"confidence": 0.2988751797371847 "confidence": 0.2988751797371847
}, },
{ {
@@ -261,10 +243,10 @@
626.75 626.75
], ],
"projected_center_px": [ "projected_center_px": [
1196.3397216796875, 1196.11279296875,
603.91357421875 626.8902587890625
], ],
"reprojection_error_px": 22.838952543454994, "reprojection_error_px": 0.1799855041627446,
"confidence": 0.5697620483284124 "confidence": 0.5697620483284124
}, },
{ {
@@ -274,12 +256,25 @@
547.75 547.75
], ],
"projected_center_px": [ "projected_center_px": [
859.1162719726562, 831.42626953125,
548.44580078125 547.9019775390625
], ],
"reprojection_error_px": 27.874957441783394, "reprojection_error_px": 0.23274045635984397,
"confidence": 0.5829305549976826 "confidence": 0.5829305549976826
}, },
{
"marker_id": 62,
"observed_center_px": [
750.75,
651.75
],
"projected_center_px": [
750.702392578125,
651.6242065429688
],
"reprojection_error_px": 0.13450078233771418,
"confidence": 0.5711737708098855
},
{ {
"marker_id": 47, "marker_id": 47,
"observed_center_px": [ "observed_center_px": [
@@ -287,25 +282,12 @@
623.75 623.75
], ],
"projected_center_px": [ "projected_center_px": [
595.1937866210938, 593.8783569335938,
624.6065673828125 623.6572875976562
], ],
"reprojection_error_px": 1.6787577218132352, "reprojection_error_px": 0.15833853589679212,
"confidence": 0.5768583617164568 "confidence": 0.5768583617164568
}, },
{
"marker_id": 62,
"observed_center_px": [
751.0,
651.75
],
"projected_center_px": [
765.1891479492188,
644.5945434570312
],
"reprojection_error_px": 15.891270492416046,
"confidence": 0.5593704450665263
},
{ {
"marker_id": 54, "marker_id": 54,
"observed_center_px": [ "observed_center_px": [
@@ -313,10 +295,10 @@
639.0 639.0
], ],
"projected_center_px": [ "projected_center_px": [
535.7850341796875, 540.5364379882812,
642.0477905273438 638.8905029296875
], ],
"reprojection_error_px": 5.614261285804342, "reprojection_error_px": 0.11540075994985943,
"confidence": 0.5766374039623903 "confidence": 0.5766374039623903
}, },
{ {
@@ -326,10 +308,10 @@
594.75 594.75
], ],
"projected_center_px": [ "projected_center_px": [
1235.982666015625, 1240.234130859375,
574.2188720703125 594.8194580078125
], ],
"reprojection_error_px": 21.022214925920235, "reprojection_error_px": 0.2747923120939837,
"confidence": 0.21364841201201337 "confidence": 0.21364841201201337
}, },
{ {
@@ -339,10 +321,10 @@
605.25 605.25
], ],
"projected_center_px": [ "projected_center_px": [
478.2646179199219, 491.54290771484375,
610.6361694335938 605.1853637695312
], ],
"reprojection_error_px": 14.289372273582657, "reprojection_error_px": 0.07758166202345713,
"confidence": 0.5705029634947052 "confidence": 0.5705029634947052
}, },
{ {
@@ -352,25 +334,12 @@
548.5 548.5
], ],
"projected_center_px": [ "projected_center_px": [
1198.48974609375, 1197.524658203125,
534.4537353515625 548.5881958007812
], ],
"reprojection_error_px": 14.065730512744919, "reprojection_error_px": 0.24198641427629713,
"confidence": 0.5440516905787338 "confidence": 0.5440516905787338
}, },
{
"marker_id": 55,
"observed_center_px": [
598.75,
542.75
],
"projected_center_px": [
598.1221313476562,
544.5460815429688
],
"reprojection_error_px": 1.902663384203565,
"confidence": 0.5461315019106076
},
{ {
"marker_id": 96, "marker_id": 96,
"observed_center_px": [ "observed_center_px": [
@@ -378,12 +347,25 @@
614.5 614.5
], ],
"projected_center_px": [ "projected_center_px": [
735.0128173828125, 722.7849731445312,
610.1817626953125 614.3385009765625
], ],
"reprojection_error_px": 12.765381110346723, "reprojection_error_px": 0.26892096077480626,
"confidence": 0.5763709732716893 "confidence": 0.5763709732716893
}, },
{
"marker_id": 55,
"observed_center_px": [
598.5,
542.75
],
"projected_center_px": [
598.8457641601562,
542.7619018554688
],
"reprojection_error_px": 0.3459689416871924,
"confidence": 0.5459402660246769
},
{ {
"marker_id": 84, "marker_id": 84,
"observed_center_px": [ "observed_center_px": [
@@ -391,10 +373,10 @@
485.0 485.0
], ],
"projected_center_px": [ "projected_center_px": [
1249.8275146484375, 1254.1151123046875,
476.7846374511719 485.0285339355469
], ],
"reprojection_error_px": 9.330088879183982, "reprojection_error_px": 0.1378726797611153,
"confidence": 0.06519221426443914 "confidence": 0.06519221426443914
}, },
{ {
@@ -404,10 +386,10 @@
535.75 535.75
], ],
"projected_center_px": [ "projected_center_px": [
742.62255859375, 731.5110473632812,
534.1879272460938 535.8734741210938
], ],
"reprojection_error_px": 11.231713180094042, "reprojection_error_px": 0.12396734576226898,
"confidence": 0.5460974493377216 "confidence": 0.5460974493377216
}, },
{ {
@@ -417,10 +399,10 @@
495.75 495.75
], ],
"projected_center_px": [ "projected_center_px": [
428.0283203125, 452.8526611328125,
500.76373291015625 495.8741455078125
], ],
"reprojection_error_px": 25.470027563971815, "reprojection_error_px": 0.1926677162736904,
"confidence": 0.5349107016469481 "confidence": 0.5349107016469481
}, },
{ {
@@ -430,10 +412,10 @@
435.0 435.0
], ],
"projected_center_px": [ "projected_center_px": [
537.2727661132812, 548.499267578125,
436.9281311035156 434.8621826171875
], ],
"reprojection_error_px": 11.63806630170105, "reprojection_error_px": 0.2861125274862849,
"confidence": 0.5227826547122322 "confidence": 0.5227826547122322
}, },
{ {
@@ -443,10 +425,10 @@
313.5 313.5
], ],
"projected_center_px": [ "projected_center_px": [
612.1203002929688, 617.8135986328125,
313.2383117675781 313.51605224609375
], ],
"reprojection_error_px": 5.88552031479388, "reprojection_error_px": 0.1870912726292264,
"confidence": 0.5046333482067283 "confidence": 0.5046333482067283
}, },
{ {
@@ -456,10 +438,10 @@
161.0 161.0
], ],
"projected_center_px": [ "projected_center_px": [
1067.6309814453125, 1054.4796142578125,
173.99093627929688 160.73471069335938
], ],
"reprojection_error_px": 18.29437368174261, "reprojection_error_px": 0.3787966021444078,
"confidence": 0.4723088830007061 "confidence": 0.4723088830007061
}, },
{ {
@@ -469,10 +451,10 @@
251.25 251.25
], ],
"projected_center_px": [ "projected_center_px": [
1247.70263671875, 1247.864013671875,
265.3039855957031 251.3048553466797
], ],
"reprojection_error_px": 14.055446373702141, "reprojection_error_px": 0.3681237052558132,
"confidence": 0.13607001327160623 "confidence": 0.13607001327160623
}, },
{ {
@@ -482,10 +464,10 @@
150.5 150.5
], ],
"projected_center_px": [ "projected_center_px": [
793.588623046875, 775.3182983398438,
156.1845245361328 150.45384216308594
], ],
"reprojection_error_px": 19.438382802607535, "reprojection_error_px": 0.32162770256287404,
"confidence": 0.46988879526830113 "confidence": 0.46988879526830113
}, },
{ {
@@ -495,10 +477,10 @@
264.25 264.25
], ],
"projected_center_px": [ "projected_center_px": [
547.3587036132812, 562.743896484375,
261.0544128417969 264.1649475097656
], ],
"reprojection_error_px": 15.71953503604653, "reprojection_error_px": 0.08527120849415161,
"confidence": 0.4655541127751829 "confidence": 0.4655541127751829
}, },
{ {
@@ -508,10 +490,10 @@
240.75 240.75
], ],
"projected_center_px": [ "projected_center_px": [
444.06695556640625, 476.1136474609375,
234.21192932128906 241.1294403076172
], ],
"reprojection_error_px": 32.8404433163514, "reprojection_error_px": 0.40319593494158207,
"confidence": 0.4655541127751829 "confidence": 0.4655541127751829
}, },
{ {
@@ -521,10 +503,10 @@
261.5 261.5
], ],
"projected_center_px": [ "projected_center_px": [
1210.841552734375, 1207.3824462890625,
273.69903564453125 261.3768005371094
], ],
"reprojection_error_px": 12.6484167125041, "reprojection_error_px": 0.17028500407174965,
"confidence": 0.49001748422717006 "confidence": 0.49001748422717006
}, },
{ {
@@ -534,10 +516,10 @@
153.5 153.5
], ],
"projected_center_px": [ "projected_center_px": [
1170.449462890625, 1162.3616943359375,
171.389404296875 153.4863739013672
], ],
"reprojection_error_px": 19.678972986205, "reprojection_error_px": 0.11252242107451403,
"confidence": 0.46225891142368675 "confidence": 0.46225891142368675
}, },
{ {
@@ -547,10 +529,10 @@
177.75 177.75
], ],
"projected_center_px": [ "projected_center_px": [
553.1890258789062, 570.5094604492188,
170.61465454101562 177.71688842773438
], ],
"reprojection_error_px": 18.723861242815982, "reprojection_error_px": 0.03443655495722901,
"confidence": 0.43211414091114625 "confidence": 0.43211414091114625
}, },
{ {
@@ -560,10 +542,10 @@
214.0 214.0
], ],
"projected_center_px": [ "projected_center_px": [
1041.18798828125, 1027.4276123046875,
224.353515625 214.04083251953125
], ],
"reprojection_error_px": 17.1626428321735, "reprojection_error_px": 0.08311000591941531,
"confidence": 0.4468602604238168 "confidence": 0.4468602604238168
}, },
{ {
@@ -573,10 +555,10 @@
64.0 64.0
], ],
"projected_center_px": [ "projected_center_px": [
1181.1949462890625, 1172.8695068359375,
86.80318450927734 64.04541778564453
], ],
"reprojection_error_px": 24.23102078833588, "reprojection_error_px": 0.13817105746101507,
"confidence": 0.4377857805109236 "confidence": 0.4377857805109236
}, },
{ {
@@ -586,10 +568,10 @@
42.0 42.0
], ],
"projected_center_px": [ "projected_center_px": [
1002.008056640625, 987.9444580078125,
54.512149810791016 42.11640167236328
], ],
"reprojection_error_px": 18.969609169799686, "reprojection_error_px": 0.22663465342126077,
"confidence": 0.22473325223116958 "confidence": 0.22473325223116958
} }
] ]

285
data/evaluations/Scene9/render_g_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:26Z", "created_utc": "2026-06-01T19:31:53Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_g.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_g.png",
"image_sha256": "3668ddce2e536e84df6a2d773efb16e31efa2bd81adf9ae0393362aef8915e39", "image_sha256": "4ac3c814212f1d509842442f4b420914c301470cd821b35ffb11d16cc413116c",
"width_px": 1280, "width_px": 1280,
"height_px": 720 "height_px": 720
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 35, "num_detected_markers": 35,
"num_rejected_candidates": 2 "num_rejected_candidates": 3
}, },
"detections": [ "detections": [
{ {
"observation_id": "d34538a1-e688-470d-ba56-5b68f95d195f", "observation_id": "1cc6b15e-cb16-4307-a06e-3540744df370",
"type": "aruco", "type": "aruco",
"marker_id": 41, "marker_id": 41,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1187.0, "area_px": 1187.0,
"perimeter_px": 138.31270217895508, "perimeter_px": 138.31270217895508,
"sharpness": { "sharpness": {
"laplacian_var": 997.9794875889099 "laplacian_var": 997.2493671069822
}, },
"contrast": { "contrast": {
"p05": 7.0, "p05": 7.0,
"p95": 135.0, "p95": 135.0,
"dynamic_range": 128.0, "dynamic_range": 128.0,
"mean_gray": 39.0, "mean_gray": 38.996385542168674,
"std_gray": 47.89994592144242 "std_gray": 47.89402192688859
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.21124745905399323, "distance_to_center_norm": 0.21124745905399323,
@@ -100,7 +100,7 @@
"confidence": 0.7407693857081211 "confidence": 0.7407693857081211
}, },
{ {
"observation_id": "a06715c2-aacf-4fa6-b407-98789f3ff35b", "observation_id": "43556ab1-6da3-47a6-bd6b-b25159fb468c",
"type": "aruco", "type": "aruco",
"marker_id": 42, "marker_id": 42,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
"confidence": 0.47851333141876906 "confidence": 0.47851333141876906
}, },
{ {
"observation_id": "6a3d553e-9da5-48de-a753-fb97d111b4a1", "observation_id": "5cfc61c0-4574-4615-8ce6-c716ab5d70f0",
"type": "aruco", "type": "aruco",
"marker_id": 198, "marker_id": 198,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.5891588970505985 "confidence": 0.5891588970505985
}, },
{ {
"observation_id": "633990d1-d2d8-4e77-a5ae-d529f3fb734d", "observation_id": "e5884590-0b49-462a-80b5-ad41ec445339",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 861.0, "area_px": 861.0,
"perimeter_px": 120.1253662109375, "perimeter_px": 120.1253662109375,
"sharpness": { "sharpness": {
"laplacian_var": 3660.4109650926243 "laplacian_var": 3661.879195702043
}, },
"contrast": { "contrast": {
"p05": 28.0, "p05": 28.0,
"p95": 189.0, "p95": 189.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 89.5625, "mean_gray": 89.56085526315789,
"std_gray": 68.99687284341988 "std_gray": 68.99751793251315
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2886967360973358, "distance_to_center_norm": 0.2886967360973358,
@@ -262,7 +262,7 @@
"confidence": 0.38340186913811386 "confidence": 0.38340186913811386
}, },
{ {
"observation_id": "0158054c-8039-4fe8-bf93-1c4d5b51cb9a", "observation_id": "96de7c99-ade9-4d03-8337-f35eea49cd91",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
"confidence": 0.3490767193505014 "confidence": 0.3490767193505014
}, },
{ {
"observation_id": "b2868068-7a33-4055-962f-8ad70c2439d6", "observation_id": "7ff8cef3-7276-4aca-b2ea-e1b6222b2ad8",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 819.0, "area_px": 819.0,
"perimeter_px": 114.65561866760254, "perimeter_px": 114.65561866760254,
"sharpness": { "sharpness": {
"laplacian_var": 3735.5481060270263 "laplacian_var": 3733.79152999582
}, },
"contrast": { "contrast": {
"p05": 31.0, "p05": 31.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 152.0, "dynamic_range": 152.0,
"mean_gray": 79.03914590747331, "mean_gray": 79.03024911032028,
"std_gray": 64.26185226252063 "std_gray": 64.25807737925925
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1658599078655243, "distance_to_center_norm": 0.1658599078655243,
@@ -370,7 +370,7 @@
"confidence": 0.519411428244808 "confidence": 0.519411428244808
}, },
{ {
"observation_id": "dc3aa998-b11c-4272-af8f-328c20594a7c", "observation_id": "e55f5417-cf45-4fc7-ae7f-ad0c481c5779",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 820.0, "area_px": 820.0,
"perimeter_px": 114.56854248046875, "perimeter_px": 114.56854248046875,
"sharpness": { "sharpness": {
"laplacian_var": 3883.6341183402074 "laplacian_var": 3882.967608787139
}, },
"contrast": { "contrast": {
"p05": 41.0, "p05": 41.0,
"p95": 184.0, "p95": 184.0,
"dynamic_range": 143.0, "dynamic_range": 143.0,
"mean_gray": 94.43853211009174, "mean_gray": 94.43302752293577,
"std_gray": 61.89037646324936 "std_gray": 61.886575822070604
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4609958529472351, "distance_to_center_norm": 0.4609958529472351,
@@ -424,7 +424,7 @@
"confidence": 0.5331747682067169 "confidence": 0.5331747682067169
}, },
{ {
"observation_id": "2ce54a24-7f6b-4a72-83e3-9ba74b4f24fa", "observation_id": "32223196-f3ce-41c1-8448-e112a9ff7c9f",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 779.0, "area_px": 779.0,
"perimeter_px": 112.11092758178711, "perimeter_px": 112.11092758178711,
"sharpness": { "sharpness": {
"laplacian_var": 3025.2762168579343 "laplacian_var": 3025.08072813613
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 158.0, "p95": 158.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 55.33646616541353, "mean_gray": 55.33458646616541,
"std_gray": 60.846206542971174 "std_gray": 60.847622506377476
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7917603254318237, "distance_to_center_norm": 0.7917603254318237,
@@ -478,7 +478,7 @@
"confidence": 0.43254677700170213 "confidence": 0.43254677700170213
}, },
{ {
"observation_id": "b8dce317-8fb8-4d1c-853b-dde40976b4eb", "observation_id": "6373c912-b56f-480f-aed1-56044801bde2",
"type": "aruco", "type": "aruco",
"marker_id": 53, "marker_id": 53,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.27711751756945874 "confidence": 0.27711751756945874
}, },
{ {
"observation_id": "2a5d127b-9e70-42ae-a37f-2a5b410b46fb", "observation_id": "9ddf9f12-33ea-490f-b11a-ad7d0e108381",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 760.0, "area_px": 760.0,
"perimeter_px": 110.37932586669922, "perimeter_px": 110.37932586669922,
"sharpness": { "sharpness": {
"laplacian_var": 4254.985977216092 "laplacian_var": 4254.141673193307
}, },
"contrast": { "contrast": {
"p05": 38.0, "p05": 38.0,
"p95": 184.0, "p95": 184.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 91.14528301886793, "mean_gray": 91.1377358490566,
"std_gray": 62.59645859546278 "std_gray": 62.59463695881378
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.33771631121635437, "distance_to_center_norm": 0.33771631121635437,
@@ -586,7 +586,7 @@
"confidence": 0.48073279309443956 "confidence": 0.48073279309443956
}, },
{ {
"observation_id": "8bb73504-d7e8-42af-9bbc-417e3942a415", "observation_id": "379cf7e4-e755-4238-82bc-c518b0d58454",
"type": "aruco", "type": "aruco",
"marker_id": 69, "marker_id": 69,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 741.5, "area_px": 741.5,
"perimeter_px": 109.12653732299805, "perimeter_px": 109.12653732299805,
"sharpness": { "sharpness": {
"laplacian_var": 3955.264943819371 "laplacian_var": 3952.3362706093803
}, },
"contrast": { "contrast": {
"p05": 44.0, "p05": 44.0,
"p95": 185.0, "p95": 185.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 96.92007797270955, "mean_gray": 96.91812865497076,
"std_gray": 60.67765023631475 "std_gray": 60.666675686065595
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4027971923351288, "distance_to_center_norm": 0.4027971923351288,
@@ -640,7 +640,7 @@
"confidence": 0.45515519100712953 "confidence": 0.45515519100712953
}, },
{ {
"observation_id": "0ee6ae9c-7b3a-41b6-a509-f3f773bf5988", "observation_id": "fdd803ed-196b-4dac-af10-149bd5874abb",
"type": "aruco", "type": "aruco",
"marker_id": 215, "marker_id": 215,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -659,42 +659,42 @@
], ],
[ [
525.0, 525.0,
495.0 496.0
] ]
], ],
"center_px": [ "center_px": [
504.75, 504.75,
495.25 495.5
], ],
"quality": { "quality": {
"area_px": 740.0, "area_px": 741.5,
"perimeter_px": 109.0725269317627, "perimeter_px": 109.12653732299805,
"sharpness": { "sharpness": {
"laplacian_var": 615.8272820886959 "laplacian_var": 576.9035562699254
}, },
"contrast": { "contrast": {
"p05": 2.0, "p05": 2.0,
"p95": 70.0, "p95": 67.0,
"dynamic_range": 68.0, "dynamic_range": 65.0,
"mean_gray": 28.321637426900583, "mean_gray": 26.94541910331384,
"std_gray": 28.596470897755243 "std_gray": 27.524027133736453
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2604817748069763, "distance_to_center_norm": 0.26072263717651367,
"distance_to_border_px": 206.0 "distance_to_border_px": 206.0
}, },
"edge_ratio": 1.1106649720556803, "edge_ratio": 1.0860764484296306,
"edge_lengths_px": [ "edge_lengths_px": [
26.172504425048828, 26.172504425048828,
27.658634185791016, 27.658634185791016,
26.172504425048828, 26.870058059692383,
29.068883895874023 28.42534065246582
] ]
}, },
"confidence": 0.3775515964613595 "confidence": 0.3698135926932927
}, },
{ {
"observation_id": "ff8672af-624a-47d4-96d9-f092e8c07b0f", "observation_id": "44f20d88-8664-4e3d-a355-a04eebdf89ec",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 741.0, "area_px": 741.0,
"perimeter_px": 109.0573844909668, "perimeter_px": 109.0573844909668,
"sharpness": { "sharpness": {
"laplacian_var": 3761.083075894197 "laplacian_var": 3755.303238603331
}, },
"contrast": { "contrast": {
"p05": 33.0, "p05": 33.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 122.30214424951266, "mean_gray": 122.2943469785575,
"std_gray": 65.33870618260373 "std_gray": 65.33730972512889
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2665036618709564, "distance_to_center_norm": 0.2665036618709564,
@@ -748,7 +748,7 @@
"confidence": 0.47991555158957017 "confidence": 0.47991555158957017
}, },
{ {
"observation_id": "02341e81-2489-4562-a583-dd2862f99122", "observation_id": "1b336851-6de0-4f60-9f5c-a67a0fd17f9b",
"type": "aruco", "type": "aruco",
"marker_id": 56, "marker_id": 56,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -802,7 +802,7 @@
"confidence": 0.39662908657084783 "confidence": 0.39662908657084783
}, },
{ {
"observation_id": "8aeba79d-60ed-4a1a-acde-c580c0b8c6cf", "observation_id": "b4ba0180-1748-4b80-850a-e0d95367ecc7",
"type": "aruco", "type": "aruco",
"marker_id": 46, "marker_id": 46,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +832,14 @@
"area_px": 702.0, "area_px": 702.0,
"perimeter_px": 106.57870483398438, "perimeter_px": 106.57870483398438,
"sharpness": { "sharpness": {
"laplacian_var": 3897.8699844578937 "laplacian_var": 3897.837920329637
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 155.0, "p95": 155.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 81.83567134268537, "mean_gray": 81.83366733466934,
"std_gray": 63.093252945419366 "std_gray": 63.09104015208895
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8364452719688416, "distance_to_center_norm": 0.8364452719688416,
@@ -856,7 +856,7 @@
"confidence": 0.1698001278724927 "confidence": 0.1698001278724927
}, },
{ {
"observation_id": "cf7809e9-5ba6-4e0c-a38b-a5d76bcf569d", "observation_id": "b37e12f6-30e9-48e0-bd94-c0831bc7ffd1",
"type": "aruco", "type": "aruco",
"marker_id": 68, "marker_id": 68,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +886,14 @@
"area_px": 702.0, "area_px": 702.0,
"perimeter_px": 106.47352981567383, "perimeter_px": 106.47352981567383,
"sharpness": { "sharpness": {
"laplacian_var": 3656.4561453226397 "laplacian_var": 3657.3454813387366
}, },
"contrast": { "contrast": {
"p05": 8.0, "p05": 8.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 145.0, "dynamic_range": 145.0,
"mean_gray": 59.59758551307847, "mean_gray": 59.59557344064386,
"std_gray": 60.39560254726759 "std_gray": 60.39250740136963
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8423811793327332, "distance_to_center_norm": 0.8423811793327332,
@@ -910,7 +910,7 @@
"confidence": 0.07718187630567852 "confidence": 0.07718187630567852
}, },
{ {
"observation_id": "764eb60f-1d17-499c-9427-9cb5c2db92b1", "observation_id": "936bcfd3-f1ce-4e54-a113-404acddc3030",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 703.5, "area_px": 703.5,
"perimeter_px": 106.30549621582031, "perimeter_px": 106.30549621582031,
"sharpness": { "sharpness": {
"laplacian_var": 2509.0734750555653 "laplacian_var": 2507.015185681493
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 145.0, "p95": 145.0,
"dynamic_range": 132.0, "dynamic_range": 132.0,
"mean_gray": 58.31790744466801, "mean_gray": 58.30181086519115,
"std_gray": 54.9322203652192 "std_gray": 54.920039339633064
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3038310110569, "distance_to_center_norm": 0.3038310110569,
@@ -964,7 +964,7 @@
"confidence": 0.4316478958478293 "confidence": 0.4316478958478293
}, },
{ {
"observation_id": "7aaeb7b4-8d20-4014-9ed6-5a55205a2629", "observation_id": "96610f7a-54e2-43e9-a659-36e91934e738",
"type": "aruco", "type": "aruco",
"marker_id": 95, "marker_id": 95,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 665.0, "area_px": 665.0,
"perimeter_px": 103.3526554107666, "perimeter_px": 103.3526554107666,
"sharpness": { "sharpness": {
"laplacian_var": 3751.5066659361532 "laplacian_var": 3741.197238658777
}, },
"contrast": { "contrast": {
"p05": 30.0, "p05": 30.0,
"p95": 181.0, "p95": 181.0,
"dynamic_range": 151.0, "dynamic_range": 151.0,
"mean_gray": 93.3931623931624, "mean_gray": 93.2948717948718,
"std_gray": 66.77154663797012 "std_gray": 66.70318403214571
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1222480833530426, "distance_to_center_norm": 0.1222480833530426,
@@ -1018,7 +1018,7 @@
"confidence": 0.4181682027393045 "confidence": 0.4181682027393045
}, },
{ {
"observation_id": "fa3d307f-7f23-4859-b767-283b1b95dd42", "observation_id": "dd53df58-6a13-451e-b4eb-d778bc03c66d",
"type": "aruco", "type": "aruco",
"marker_id": 55, "marker_id": 55,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 629.0, "area_px": 629.0,
"perimeter_px": 100.5296630859375, "perimeter_px": 100.5296630859375,
"sharpness": { "sharpness": {
"laplacian_var": 4251.100896389193 "laplacian_var": 4253.6781415705755
}, },
"contrast": { "contrast": {
"p05": 24.0, "p05": 24.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 90.29128440366972, "mean_gray": 90.17201834862385,
"std_gray": 67.50351684485558 "std_gray": 67.43702632663661
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.026040121912956238, "distance_to_center_norm": 0.026040121912956238,
@@ -1072,7 +1072,7 @@
"confidence": 0.39668368657567366 "confidence": 0.39668368657567366
}, },
{ {
"observation_id": "f9ac1566-65e7-43f3-bfa7-485b539d6b17", "observation_id": "fdb025e3-3d45-4837-8bfd-9c36ca9d19aa",
"type": "aruco", "type": "aruco",
"marker_id": 66, "marker_id": 66,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 612.0, "area_px": 612.0,
"perimeter_px": 99.30825424194336, "perimeter_px": 99.30825424194336,
"sharpness": { "sharpness": {
"laplacian_var": 4001.937599088247 "laplacian_var": 4004.8164589457288
}, },
"contrast": { "contrast": {
"p05": 30.0, "p05": 30.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 152.0, "dynamic_range": 152.0,
"mean_gray": 80.79809976247031, "mean_gray": 80.7624703087886,
"std_gray": 63.76034848669227 "std_gray": 63.75651886992136
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.16964846849441528, "distance_to_center_norm": 0.16964846849441528,
@@ -1126,7 +1126,7 @@
"confidence": 0.3829765144945479 "confidence": 0.3829765144945479
}, },
{ {
"observation_id": "7de918ad-3e0f-4ea9-9564-b319fe8ce9fb", "observation_id": "a69f0af5-cee7-4721-8c77-18bb9f5f4c03",
"type": "aruco", "type": "aruco",
"marker_id": 217, "marker_id": 217,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.3382587531306593 "confidence": 0.3382587531306593
}, },
{ {
"observation_id": "6cd56bf7-5973-40ff-99fb-efd29788b837", "observation_id": "e2febdbf-19a2-4343-9b7c-0270cdc101ef",
"type": "aruco", "type": "aruco",
"marker_id": 47, "marker_id": 47,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 577.0, "area_px": 577.0,
"perimeter_px": 96.43865394592285, "perimeter_px": 96.43865394592285,
"sharpness": { "sharpness": {
"laplacian_var": 3670.348205556527 "laplacian_var": 3683.3671308975777
}, },
"contrast": { "contrast": {
"p05": 21.0, "p05": 21.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 84.39440203562341, "mean_gray": 84.31806615776081,
"std_gray": 66.48851261405774 "std_gray": 66.479812729775
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.11161299794912338, "distance_to_center_norm": 0.11161299794912338,
@@ -1234,7 +1234,7 @@
"confidence": 0.36403279165733554 "confidence": 0.36403279165733554
}, },
{ {
"observation_id": "9d8d38b9-4391-4555-afbc-cd742450ce4d", "observation_id": "49b524d7-5ede-40d6-ab3a-bbca30af4289",
"type": "aruco", "type": "aruco",
"marker_id": 97, "marker_id": 97,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1264,14 +1264,14 @@
"area_px": 576.5, "area_px": 576.5,
"perimeter_px": 96.39469909667969, "perimeter_px": 96.39469909667969,
"sharpness": { "sharpness": {
"laplacian_var": 3831.886089129529 "laplacian_var": 3831.7385204081634
}, },
"contrast": { "contrast": {
"p05": 25.0, "p05": 25.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 108.68367346938776, "mean_gray": 108.61479591836735,
"std_gray": 67.37722726450356 "std_gray": 67.35696928821133
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.13722912967205048, "distance_to_center_norm": 0.13722912967205048,
@@ -1288,7 +1288,7 @@
"confidence": 0.3623898971459892 "confidence": 0.3623898971459892
}, },
{ {
"observation_id": "8ce583bf-7992-4460-a271-7999f0b05f66", "observation_id": "bd3a5ef8-de49-4f6d-a1f5-fdd5725462a1",
"type": "aruco", "type": "aruco",
"marker_id": 54, "marker_id": 54,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 558.5, "area_px": 558.5,
"perimeter_px": 95.06661224365234, "perimeter_px": 95.06661224365234,
"sharpness": { "sharpness": {
"laplacian_var": 3776.790998292321 "laplacian_var": 3766.798157946306
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 60.060846560846564, "mean_gray": 60.05291005291005,
"std_gray": 59.04611238382357 "std_gray": 59.04143782480641
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.13344134390354156, "distance_to_center_norm": 0.13344134390354156,
@@ -1342,7 +1342,7 @@
"confidence": 0.3590718541167963 "confidence": 0.3590718541167963
}, },
{ {
"observation_id": "31392ce5-c1c3-43cd-a4d6-702882dd4cb0", "observation_id": "5f2afb3f-d52e-4c66-9e9e-789401ddeaaa",
"type": "aruco", "type": "aruco",
"marker_id": 205, "marker_id": 205,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
"confidence": 0.29591817114314195 "confidence": 0.29591817114314195
}, },
{ {
"observation_id": "540621e7-11c2-447f-9af6-85da0fa814d1", "observation_id": "133d9eb0-77c8-4de9-999a-ed091ac48a8d",
"type": "aruco", "type": "aruco",
"marker_id": 92, "marker_id": 92,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
"confidence": 0.3158166687011719 "confidence": 0.3158166687011719
}, },
{ {
"observation_id": "53f7ed02-9fcd-4636-bf28-22720365bcc7", "observation_id": "55718b1f-4c32-4849-9a7b-d896dfdab98c",
"type": "aruco", "type": "aruco",
"marker_id": 105, "marker_id": 105,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1480,14 +1480,14 @@
"area_px": 526.5, "area_px": 526.5,
"perimeter_px": 92.3674144744873, "perimeter_px": 92.3674144744873,
"sharpness": { "sharpness": {
"laplacian_var": 2563.884376055545 "laplacian_var": 2562.284376055545
}, },
"contrast": { "contrast": {
"p05": 14.0, "p05": 14.0,
"p95": 168.0, "p95": 168.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 43.74246575342466, "mean_gray": 43.75068493150685,
"std_gray": 52.57354383840108 "std_gray": 52.57178555572532
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.36139723658561707, "distance_to_center_norm": 0.36139723658561707,
@@ -1504,7 +1504,7 @@
"confidence": 0.31800273344664126 "confidence": 0.31800273344664126
}, },
{ {
"observation_id": "08e7e727-f310-4a30-b191-9a0607d3d4db", "observation_id": "c12cc3a1-89a4-4e4a-9908-330ce4ab68ae",
"type": "aruco", "type": "aruco",
"marker_id": 85, "marker_id": 85,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 525.0, "area_px": 525.0,
"perimeter_px": 92.31552124023438, "perimeter_px": 92.31552124023438,
"sharpness": { "sharpness": {
"laplacian_var": 4225.618574930371 "laplacian_var": 4226.006754244169
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 125.26997245179064, "mean_gray": 125.27272727272727,
"std_gray": 58.98086589625927 "std_gray": 58.974243806147165
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.33065441250801086, "distance_to_center_norm": 0.33065441250801086,
@@ -1558,7 +1558,7 @@
"confidence": 0.2969848480224609 "confidence": 0.2969848480224609
}, },
{ {
"observation_id": "f21f961e-6810-4cc5-b430-52f55642571a", "observation_id": "be223c39-56b1-48e9-a77c-c70397db9e73",
"type": "aruco", "type": "aruco",
"marker_id": 102, "marker_id": 102,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1588,14 +1588,14 @@
"area_px": 525.0, "area_px": 525.0,
"perimeter_px": 92.27830123901367, "perimeter_px": 92.27830123901367,
"sharpness": { "sharpness": {
"laplacian_var": 4092.709581534997 "laplacian_var": 4093.5753349596544
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 168.0, "p95": 168.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 102.71506849315068, "mean_gray": 102.71506849315068,
"std_gray": 63.58418790094519 "std_gray": 63.589358270620096
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5383343696594238, "distance_to_center_norm": 0.5383343696594238,
@@ -1612,7 +1612,7 @@
"confidence": 0.3170967427530611 "confidence": 0.3170967427530611
}, },
{ {
"observation_id": "ac237e04-6dd7-4482-bb6e-3ccf7fb43922", "observation_id": "8e73d645-9daa-408e-884f-f8f35406bfc1",
"type": "aruco", "type": "aruco",
"marker_id": 59, "marker_id": 59,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1642,14 +1642,14 @@
"area_px": 525.0, "area_px": 525.0,
"perimeter_px": 92.24146842956543, "perimeter_px": 92.24146842956543,
"sharpness": { "sharpness": {
"laplacian_var": 3282.957673109402 "laplacian_var": 3281.965892287484
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 169.0, "p95": 169.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 99.79178082191781, "mean_gray": 99.8082191780822,
"std_gray": 66.84179185153974 "std_gray": 66.83384786256396
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.49239593744277954, "distance_to_center_norm": 0.49239593744277954,
@@ -1666,7 +1666,7 @@
"confidence": 0.3170967427530611 "confidence": 0.3170967427530611
}, },
{ {
"observation_id": "e40794bd-8340-4fb3-862e-9dff823eb60b", "observation_id": "a7f359a3-9484-412f-8009-8a3a57fc0d14",
"type": "aruco", "type": "aruco",
"marker_id": 48, "marker_id": 48,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1696,14 +1696,14 @@
"area_px": 507.5, "area_px": 507.5,
"perimeter_px": 91.00028991699219, "perimeter_px": 91.00028991699219,
"sharpness": { "sharpness": {
"laplacian_var": 3256.497654344155 "laplacian_var": 3251.357928316757
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 62.153424657534245, "mean_gray": 62.16438356164384,
"std_gray": 62.042791424336926 "std_gray": 62.04488293640828
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5662168264389038, "distance_to_center_norm": 0.5662168264389038,
@@ -1720,7 +1720,7 @@
"confidence": 0.17828567290874034 "confidence": 0.17828567290874034
}, },
{ {
"observation_id": "8aad007b-d6f5-4e2e-a4e1-596898987ff1", "observation_id": "2e118d8f-e8ca-4539-96f2-025d324dfe3c",
"type": "aruco", "type": "aruco",
"marker_id": 57, "marker_id": 57,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1750,14 +1750,14 @@
"area_px": 494.0, "area_px": 494.0,
"perimeter_px": 89.47044372558594, "perimeter_px": 89.47044372558594,
"sharpness": { "sharpness": {
"laplacian_var": 4662.113604080579 "laplacian_var": 4660.857922262397
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 171.0, "p95": 171.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 84.40056818181819, "mean_gray": 84.40625,
"std_gray": 65.0561933649035 "std_gray": 65.05353796563713
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.4621008336544037, "distance_to_center_norm": 0.4621008336544037,
@@ -1774,7 +1774,7 @@
"confidence": 0.3167426670523156 "confidence": 0.3167426670523156
}, },
{ {
"observation_id": "28663746-d22f-454d-9000-e0f73d5c4cc3", "observation_id": "17b8367a-4326-4b1a-9a15-80ba7cb2e704",
"type": "aruco", "type": "aruco",
"marker_id": 63, "marker_id": 63,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1804,14 +1804,14 @@
"area_px": 476.0, "area_px": 476.0,
"perimeter_px": 88.23826217651367, "perimeter_px": 88.23826217651367,
"sharpness": { "sharpness": {
"laplacian_var": 3148.8834512096914 "laplacian_var": 3146.1083032806973
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 163.0, "p95": 163.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 54.17751479289941, "mean_gray": 54.17455621301775,
"std_gray": 59.89990045314865 "std_gray": 59.89785934235994
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6927092671394348, "distance_to_center_norm": 0.6927092671394348,
@@ -1828,7 +1828,7 @@
"confidence": 0.15449597168691093 "confidence": 0.15449597168691093
}, },
{ {
"observation_id": "fc521ee6-446a-4161-b748-24e45449b633", "observation_id": "70bbc149-98f0-4437-a4da-761e294dba9c",
"type": "aruco", "type": "aruco",
"marker_id": 71, "marker_id": 71,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1858,14 +1858,14 @@
"area_px": 461.5, "area_px": 461.5,
"perimeter_px": 87.19272422790527, "perimeter_px": 87.19272422790527,
"sharpness": { "sharpness": {
"laplacian_var": 4527.538827922574 "laplacian_var": 4526.403025453437
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 165.0, "p95": 165.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 102.71604938271605, "mean_gray": 102.72222222222223,
"std_gray": 63.573323966858084 "std_gray": 63.5710693963656
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.646465003490448, "distance_to_center_norm": 0.646465003490448,
@@ -1882,7 +1882,7 @@
"confidence": 0.08171792300897739 "confidence": 0.08171792300897739
}, },
{ {
"observation_id": "766e02aa-cba1-44ca-9a61-c670c3a5c305", "observation_id": "864cd89b-e11e-4683-aa1e-0869c7d92800",
"type": "aruco", "type": "aruco",
"marker_id": 120, "marker_id": 120,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1912,14 +1912,14 @@
"area_px": 334.5, "area_px": 334.5,
"perimeter_px": 85.13731288909912, "perimeter_px": 85.13731288909912,
"sharpness": { "sharpness": {
"laplacian_var": 4196.178701877419 "laplacian_var": 4200.137774855723
}, },
"contrast": { "contrast": {
"p05": 27.0, "p05": 27.0,
"p95": 142.0, "p95": 142.0,
"dynamic_range": 115.0, "dynamic_range": 115.0,
"mean_gray": 60.31623931623932, "mean_gray": 60.32905982905983,
"std_gray": 41.890302321567226 "std_gray": 41.898517118424564
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.15455873310565948, "distance_to_center_norm": 0.15455873310565948,
@@ -1937,6 +1937,31 @@
} }
], ],
"rejected_candidates": [ "rejected_candidates": [
{
"image_points_px": [
[
472.0,
442.0
],
[
478.0,
439.0
],
[
522.0,
482.0
],
[
472.0,
449.0
]
],
"center_px": [
486.0,
453.0
],
"area_px": 370.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [

372
data/evaluations/Scene9/render_g_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-06-01T17:39:29Z", "created_utc": "2026-06-01T19:31:57Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
1500.0, 1777.77783203125,
360.0 360.0
], ],
[ [
@@ -74,170 +74,152 @@
1, 1,
2, 2,
3, 3,
4, 4
5,
6,
7,
8,
9,
10
], ],
"rms": [ "rms": [
0.02200940579566412, 0.008381194843130185,
0.012492719601123106, 0.0005570759682538026,
0.006103430044278538, 8.990930760016274e-05,
0.0055115399329895825, 8.981924443948236e-05,
0.005096973387838219, 8.981924274038689e-05
0.005079213955287144,
0.005078265280046825,
0.0050782114556132685,
0.005078208229684019,
0.005078208035428635,
0.005078208023787546
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125,
6.25e-05, 6.25e-05
3.125e-05,
1.5625e-05,
7.8125e-06,
3.90625e-06,
1.953125e-06,
9.765625e-07
] ]
}, },
"residual_rms_px": 11.755561902657986, "residual_rms_px": 0.22582036189448948,
"residual_median_px": 7.179568755770828, "residual_median_px": 0.170213142776088,
"residual_max_px": 23.328064176759177, "residual_max_px": 0.4165508784900157,
"sigma2_normalized": 2.8763757886605642e-05 "sigma2_normalized": 8.998361331810913e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
-0.6559104919433594, -0.7072217464447021,
-0.7190011739730835, -0.7069913148880005,
-0.22982333600521088 0.0008337813778780401
], ],
[ [
-0.6814113259315491, -0.6416308283805847,
0.6949824094772339, 0.6413437724113464,
-0.22951699793338776 -0.42069941759109497
], ],
[ [
0.32474616169929504, 0.2968961000442505,
0.006061616353690624, -0.2980627417564392,
-0.9457817673683167 -0.9071996808052063
] ]
], ],
"translation_m": [ "translation_m": [
-0.021144816651940346, -0.00035335071152076125,
0.3619556128978729, 0.33177444338798523,
1.2937729358673096 1.3887873888015747
], ],
"rvec_rad": [ "rvec_rad": [
1.106264639889024, 1.1164180821644647,
-2.6042289186417977, -2.6951916291967954,
0.1765199787946084 0.5950065918240713
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
-0.1873762607574463, -0.19969874620437622,
-0.27459830045700073, 0.20091447234153748,
1.301842212677002 1.3994851112365723
], ],
"position_mm": [ "position_mm": [
-187.3762664794922, -199.69874572753906,
-274.5982971191406, 200.9144744873047,
1301.8421630859375 1399.485107421875
], ],
"orientation_deg": { "orientation_deg": {
"roll": 179.63278198242188, "roll": -161.81192016601562,
"pitch": -18.950197219848633, "pitch": -17.271270751953125,
"yaw": -133.90757751464844 "yaw": -137.783935546875
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
0.00015713177460004805, 4.057066033811744e-08,
-0.00024204502628152495, -5.79654876675776e-08,
1.7758625437526932e-05, 1.8086837584943956e-08,
1.720048535412467e-05, 3.653313126501175e-09,
2.8695667094934284e-05, 9.936723308525603e-09,
0.00018562673513110555 3.618736440844957e-08
], ],
[ [
-0.00024204502628152386, -5.796548766757797e-08,
0.0005917462265111596, 1.8522256761516856e-07,
-3.912138084668765e-05, -9.004321898280576e-08,
-7.209370121885013e-05, -2.830536997940188e-08,
-5.030004382328941e-05, -1.6591957618416472e-08,
-0.00041584570195426346 -9.726473637899965e-08
], ],
[ [
1.775862543752117e-05, 1.8086837584944608e-08,
-3.912138084668026e-05, -9.004321898280542e-08,
0.0005937501659202497, 3.4814971623299873e-07,
1.2121327837238821e-05, 3.5681470300082046e-08,
-5.034321601349462e-05, -2.108732983573427e-08,
-6.556933985800179e-05 9.112336993194966e-10
], ],
[ [
1.720048535412448e-05, 3.6533131265012747e-09,
-7.209370121884996e-05, -2.8305369979401886e-08,
1.2121327837239306e-05, 3.568147030008221e-08,
1.4244784832818947e-05, 7.921495035531506e-09,
3.7543773536765624e-06, -3.20975747172567e-10,
4.016671598390895e-05 7.945186660853111e-09
], ],
[ [
2.8695667094934772e-05, 9.936723308525576e-09,
-5.030004382329021e-05, -1.6591957618416452e-08,
-5.034321601349331e-05, -2.108732983573437e-08,
3.7543773536766378e-06, -3.2097574717256696e-10,
1.2415433456772226e-05, 5.6962904131179224e-09,
4.562655960014969e-05 1.3804263992014422e-08
], ],
[ [
0.0001856267351311054, 3.6187364408449745e-08,
-0.00041584570195426487, -9.726473637899984e-08,
-6.556933985799604e-05, 9.112336993198462e-10,
4.0166715983909274e-05, 7.945186660853167e-09,
4.5626559600149246e-05, 1.3804263992014444e-08,
0.0003640957163529654 8.092186757085763e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.7182152793178741, 0.011540607496234395,
1.393767652798099, 0.02465866624804665,
1.3961256444186971 0.033806923835280764
], ],
"tvec_std_m": [ "tvec_std_m": [
0.003774226388654892, 8.900278105504067e-05,
0.00352355409448645, 7.547377301498794e-05,
0.019081292313492957 0.0002844676916116444
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.03068643829839299, 0.0006046566433382854,
0.02772854307784112, 0.0007404101578997764,
0.02576136304504991 0.0003116136329664904
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
30.68643829839299, 0.6046566433382854,
27.72854307784112, 0.7404101578997764,
25.76136304504991 0.3116136329664904
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.8527509678295315, "roll": 0.021242044681257937,
"pitch": 1.3876188137550685, "pitch": 0.02461031935223214,
"yaw": 0.4456641826828775 "yaw": 0.0068675669240877615
} }
} }
}, },
@@ -250,10 +232,10 @@
662.0 662.0
], ],
"projected_center_px": [ "projected_center_px": [
67.64344787597656, 65.18418884277344,
638.7950439453125 661.9302368164062
], ],
"reprojection_error_px": 23.328064176759177, "reprojection_error_px": 0.09590625735912438,
"confidence": 0.3490767193505014 "confidence": 0.3490767193505014
}, },
{ {
@@ -263,10 +245,10 @@
647.0 647.0
], ],
"projected_center_px": [ "projected_center_px": [
822.2017211914062, 819.48974609375,
648.09375 646.9373168945312
], ],
"reprojection_error_px": 2.9147189330351573, "reprojection_error_px": 0.06351625228703457,
"confidence": 0.5331747682067169 "confidence": 0.5331747682067169
}, },
{ {
@@ -276,10 +258,10 @@
581.0 581.0
], ],
"projected_center_px": [ "projected_center_px": [
101.0286865234375, 102.28055572509766,
567.763916015625 581.1607055664062
], ],
"reprojection_error_px": 13.29231077914828, "reprojection_error_px": 0.16358463072733076,
"confidence": 0.43254677700170213 "confidence": 0.43254677700170213
}, },
{ {
@@ -289,10 +271,10 @@
559.0 559.0
], ],
"projected_center_px": [ "projected_center_px": [
55.246952056884766, 52.05217361450195,
547.0332641601562 559.091552734375
], ],
"reprojection_error_px": 12.399413870030676, "reprojection_error_px": 0.10537546783638838,
"confidence": 0.27711751756945874 "confidence": 0.27711751756945874
}, },
{ {
@@ -302,10 +284,10 @@
564.0 564.0
], ],
"projected_center_px": [ "projected_center_px": [
785.330322265625, 780.9439086914062,
565.1350708007812 563.8392944335938
], ],
"reprojection_error_px": 4.476614417945086, "reprojection_error_px": 0.170213142776088,
"confidence": 0.48073279309443956 "confidence": 0.48073279309443956
}, },
{ {
@@ -315,24 +297,24 @@
547.5 547.5
], ],
"projected_center_px": [ "projected_center_px": [
885.4929809570312, 868.8621215820312,
550.4025268554688 547.334228515625
], ],
"reprojection_error_px": 16.99270647878755, "reprojection_error_px": 0.20012854416369794,
"confidence": 0.45515519100712953 "confidence": 0.45515519100712953
}, },
{ {
"marker_id": 215, "marker_id": 215,
"observed_center_px": [ "observed_center_px": [
504.75, 504.75,
495.25 495.5
], ],
"projected_center_px": [ "projected_center_px": [
484.1275939941406, 504.504150390625,
500.800537109375 495.4842529296875
], ],
"reprojection_error_px": 21.35631268906348, "reprojection_error_px": 0.24635340601109396,
"confidence": 0.3775515964613595 "confidence": 0.3698135926932927
}, },
{ {
"marker_id": 103, "marker_id": 103,
@@ -341,10 +323,10 @@
543.5 543.5
], ],
"projected_center_px": [ "projected_center_px": [
706.70263671875, 708.194091796875,
543.7702026367188 543.6495971679688
], ],
"reprojection_error_px": 1.3252022292561734, "reprojection_error_px": 0.2450529295446938,
"confidence": 0.47991555158957017 "confidence": 0.47991555158957017
}, },
{ {
@@ -354,10 +336,10 @@
514.75 514.75
], ],
"projected_center_px": [ "projected_center_px": [
84.52336120605469, 84.43355560302734,
507.3511657714844 514.6434936523438
], ],
"reprojection_error_px": 7.403882379537784, "reprojection_error_px": 0.21221748630545456,
"confidence": 0.39662908657084783 "confidence": 0.39662908657084783
}, },
{ {
@@ -367,10 +349,10 @@
498.0 498.0
], ],
"projected_center_px": [ "projected_center_px": [
45.149391174316406, 41.342403411865234,
491.8171081542969 498.0172424316406
], ],
"reprojection_error_px": 7.179568755770828, "reprojection_error_px": 0.15853701788730787,
"confidence": 0.1698001278724927 "confidence": 0.1698001278724927
}, },
{ {
@@ -380,10 +362,10 @@
458.0 458.0
], ],
"projected_center_px": [ "projected_center_px": [
33.76746368408203, 29.12993621826172,
455.4254150390625 458.0780029296875
], ],
"reprojection_error_px": 5.199612087270121, "reprojection_error_px": 0.1431774029836088,
"confidence": 0.07718187630567852 "confidence": 0.07718187630567852
}, },
{ {
@@ -393,10 +375,10 @@
417.75 417.75
], ],
"projected_center_px": [ "projected_center_px": [
404.8271179199219, 424.3954162597656,
424.88427734375 417.75518798828125
], ],
"reprojection_error_px": 20.926543014893873, "reprojection_error_px": 0.1047123390237159,
"confidence": 0.4316478958478293 "confidence": 0.4316478958478293
}, },
{ {
@@ -406,10 +388,10 @@
415.25 415.25
], ],
"projected_center_px": [ "projected_center_px": [
717.5942993164062, 710.8798828125,
415.47711181640625 415.1714172363281
], ],
"reprojection_error_px": 6.848066362829029, "reprojection_error_px": 0.15180512418630643,
"confidence": 0.4181682027393045 "confidence": 0.4181682027393045
}, },
{ {
@@ -419,10 +401,10 @@
351.75 351.75
], ],
"projected_center_px": [ "projected_center_px": [
624.6567993164062, 622.6432495117188,
351.91876220703125 351.8919372558594
], ],
"reprojection_error_px": 1.914252939287126, "reprojection_error_px": 0.17760025717654515,
"confidence": 0.39668368657567366 "confidence": 0.39668368657567366
}, },
{ {
@@ -432,10 +414,10 @@
332.5 332.5
], ],
"projected_center_px": [ "projected_center_px": [
779.4948120117188, 761.2999267578125,
330.6138916015625 332.75372314453125
], ],
"reprojection_error_px": 18.093387306630948, "reprojection_error_px": 0.32311721760104894,
"confidence": 0.3829765144945479 "confidence": 0.3829765144945479
}, },
{ {
@@ -445,10 +427,10 @@
202.0 202.0
], ],
"projected_center_px": [ "projected_center_px": [
187.4725341796875, 201.81500244140625,
216.80555725097656 201.78660583496094
], ],
"reprojection_error_px": 20.395448581778734, "reprojection_error_px": 0.3804781304682526,
"confidence": 0.3382587531306593 "confidence": 0.3382587531306593
}, },
{ {
@@ -458,10 +440,10 @@
292.0 292.0
], ],
"projected_center_px": [ "projected_center_px": [
596.9345703125, 594.2091064453125,
291.29638671875 291.8497619628906
], ],
"reprojection_error_px": 2.7752458291668036, "reprojection_error_px": 0.1557040481473025,
"confidence": 0.36403279165733554 "confidence": 0.36403279165733554
}, },
{ {
@@ -471,10 +453,10 @@
268.75 268.75
], ],
"projected_center_px": [ "projected_center_px": [
695.365234375, 682.6641235351562,
265.5987243652344 268.75299072265625
], ],
"reprojection_error_px": 13.002871854419283, "reprojection_error_px": 0.08592852632313926,
"confidence": 0.3623898971459892 "confidence": 0.3623898971459892
}, },
{ {
@@ -484,10 +466,10 @@
262.5 262.5
], ],
"projected_center_px": [ "projected_center_px": [
637.9163818359375, 630.4015502929688,
260.5142517089844 262.6416015625
], ],
"reprojection_error_px": 7.919381713850135, "reprojection_error_px": 0.20740900125441847,
"confidence": 0.3590718541167963 "confidence": 0.3590718541167963
}, },
{ {
@@ -497,10 +479,10 @@
135.0 135.0
], ],
"projected_center_px": [ "projected_center_px": [
121.14615631103516, 133.0006561279297,
153.30975341796875 135.0164031982422
], ],
"reprojection_error_px": 21.811938942451448, "reprojection_error_px": 0.016416315555952837,
"confidence": 0.29591817114314195 "confidence": 0.29591817114314195
}, },
{ {
@@ -510,10 +492,10 @@
157.0 157.0
], ],
"projected_center_px": [ "projected_center_px": [
285.0270690917969, 290.9947509765625,
163.84591674804688 157.4013671875
], ],
"reprojection_error_px": 9.085289194921476, "reprojection_error_px": 0.40140150902644545,
"confidence": 0.3158166687011719 "confidence": 0.3158166687011719
}, },
{ {
@@ -523,10 +505,10 @@
182.75 182.75
], ],
"projected_center_px": [ "projected_center_px": [
439.7162170410156, 442.3343200683594,
184.19300842285156 182.8926544189453
], ],
"reprojection_error_px": 3.1355575056363354, "reprojection_error_px": 0.21863239236917045,
"confidence": 0.31800273344664126 "confidence": 0.31800273344664126
}, },
{ {
@@ -536,10 +518,10 @@
166.0 166.0
], ],
"projected_center_px": [ "projected_center_px": [
494.85260009765625, 493.92724609375,
164.6371307373047 165.67755126953125
], ],
"reprojection_error_px": 1.6075881169388855, "reprojection_error_px": 0.33055455624683555,
"confidence": 0.2969848480224609 "confidence": 0.2969848480224609
}, },
{ {
@@ -549,10 +531,10 @@
130.0 130.0
], ],
"projected_center_px": [ "projected_center_px": [
313.7091064453125, 318.8653564453125,
134.91958618164062 129.7999267578125
], ],
"reprojection_error_px": 6.866949049682517, "reprojection_error_px": 0.4165508784900157,
"confidence": 0.3170967427530611 "confidence": 0.3170967427530611
}, },
{ {
@@ -562,10 +544,10 @@
109.0 109.0
], ],
"projected_center_px": [ "projected_center_px": [
376.8421630859375, 379.8970031738281,
111.31359100341797 109.25934600830078
], ],
"reprojection_error_px": 3.715941179550759, "reprojection_error_px": 0.29811119592710844,
"confidence": 0.3170967427530611 "confidence": 0.3170967427530611
}, },
{ {
@@ -575,10 +557,10 @@
44.25 44.25
], ],
"projected_center_px": [ "projected_center_px": [
367.8004455566406, 369.5532531738281,
44.72565841674805 44.28900909423828
], ],
"reprojection_error_px": 1.7648615343323264, "reprojection_error_px": 0.06601219551006923,
"confidence": 0.17828567290874034 "confidence": 0.17828567290874034
}, },
{ {
@@ -588,10 +570,10 @@
70.5 70.5
], ],
"projected_center_px": [ "projected_center_px": [
465.4833679199219, 463.0096435546875,
66.98860931396484 70.46881103515625
], ],
"reprojection_error_px": 4.300811641501118, "reprojection_error_px": 0.03264582170868849,
"confidence": 0.3167426670523156 "confidence": 0.3167426670523156
}, },
{ {
@@ -601,10 +583,10 @@
42.0 42.0
], ],
"projected_center_px": [ "projected_center_px": [
238.1956024169922, 242.69981384277344,
49.013179779052734 41.71794509887695
], ],
"reprojection_error_px": 8.5009956328024, "reprojection_error_px": 0.4119061740712104,
"confidence": 0.15449597168691093 "confidence": 0.15449597168691093
}, },
{ {
@@ -614,10 +596,10 @@
29.5 29.5
], ],
"projected_center_px": [ "projected_center_px": [
295.6414489746094, 299.257080078125,
33.31275177001953 29.455623626708984
], ],
"reprojection_error_px": 5.249639660265721, "reprojection_error_px": 0.04493762357668314,
"confidence": 0.08171792300897739 "confidence": 0.08171792300897739
} }
] ]

5908
data/evaluations/Scene9/robot_state.json
View File

File diff suppressed because it is too large Load Diff

1051
data/evaluations/Scene9a/aruco_positions_initial.json
View File

File diff suppressed because it is too large Load Diff

1051
data/evaluations/Scene9a/aruco_positions_optimized.json
View File

File diff suppressed because it is too large Load Diff

390
data/evaluations/Scene9a/render_a_aruco_detection.json
View File

File diff suppressed because it is too large Load Diff

320
data/evaluations/Scene9a/render_a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:25:59Z", "created_utc": "2026-06-01T19:27:37Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_a_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -72,10 +72,10 @@
3 3
], ],
"rms": [ "rms": [
0.008872899930311543, 0.010583394928152915,
0.0012388472320492266, 0.0005525235691396853,
0.0011328135430688246, 9.505530002383045e-05,
0.001132812339957831 9.503877002001854e-05
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -84,135 +84,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 3.441319562284831, "residual_rms_px": 0.2688084247930609,
"residual_median_px": 2.6636379223835944, "residual_median_px": 0.23060128878351585,
"residual_max_px": 8.850251314552466, "residual_max_px": 0.5908599911126295,
"sigma2_normalized": 1.4582543153490712e-06 "sigma2_normalized": 1.0264054325758367e-08
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.8097585439682007, 0.8079765439033508,
-0.5867629051208496, -0.5892143845558167,
-0.0006321779219433665 0.0005618822760879993
], ],
[ [
-0.3018732964992523, -0.3429778218269348,
-0.41567403078079224, -0.4710928201675415,
-0.8579554557800293 -0.8126732110977173
], ],
[ [
0.5031536817550659, 0.4791034758090973,
0.6949276328086853, 0.6564281582832336,
-0.5137236714363098 -0.5827193856239319
] ]
], ],
"translation_m": [ "translation_m": [
-0.22969694435596466, -0.22885149717330933,
0.14686723053455353, 0.1706371307373047,
1.1302393674850464 1.1345192193984985
], ],
"rvec_rad": [ "rvec_rad": [
2.0286492779409144, 2.106375489560313,
-0.6581337919398017, -0.686125712742011,
0.37217297168846214 0.35305027996646676
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
-0.33834975957870483, -0.3001207113265991,
-0.8591632843017578, -0.7991870045661926,
0.7064910531044006 0.7999071478843689
], ],
"position_mm": [ "position_mm": [
-338.3497619628906, -300.1206970214844,
-859.1632690429688, -799.18701171875,
706.4910278320312 799.9071655273438
], ],
"orientation_deg": { "orientation_deg": {
"roll": 126.47356414794922, "roll": 131.59585571289062,
"pitch": -30.2088623046875, "pitch": -28.62686538696289,
"yaw": -20.445161819458008 "yaw": -23.0007266998291
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
4.426079399265378e-06, 3.7290525026728856e-08,
-1.2352017799760027e-06, -1.1186584863597427e-08,
-2.3285454873806743e-07, -1.4342609428219227e-09,
2.2671230206662886e-07, 2.072772548112029e-09,
4.851266461944343e-07, 4.480706674724859e-09,
1.5391815886119095e-06 1.3167239795511558e-08
], ],
[ [
-1.2352017799760075e-06, -1.1186584863597376e-08,
2.375121938344951e-06, 1.7518420303072538e-08,
-1.794000829042936e-07, -1.0181491434847018e-09,
-2.960943051458215e-07, -2.2423580539533653e-09,
-6.499967141145373e-07, -5.032409355995556e-09,
-4.5453756768416504e-07 -4.241119350125248e-09
], ],
[ [
-2.3285454873805483e-07, -1.4342609428217912e-09,
-1.7940008290429458e-07, -1.0181491434848306e-09,
5.689784776481128e-06, 4.756433302540096e-08,
5.459470924363222e-07, 4.3988582124221556e-09,
-7.807422844221042e-07, -6.117661666785481e-09,
-1.2015103670573978e-06 -1.0470977280798752e-08
], ],
[ [
2.2671230206663164e-07, 2.072772548112036e-09,
-2.9609430514582133e-07, -2.242358053953372e-09,
5.45947092436322e-07, 4.398858212422123e-09,
1.9676533804740008e-07, 1.4547915475757582e-09,
2.7706116405408895e-08, 2.4760650984453564e-10,
1.768545843800169e-07 1.1949315143217466e-09
], ],
[ [
4.851266461944343e-07, 4.4807066747248244e-09,
-6.499967141145369e-07, -5.032409355995531e-09,
-7.807422844221062e-07, -6.117661666785528e-09,
2.7706116405408733e-08, 2.476065098445271e-10,
4.145928464745233e-07, 3.168354650696987e-09,
5.587396987830506e-07 4.6429579034697385e-09
], ],
[ [
1.5391815886119141e-06, 1.3167239795511582e-08,
-4.5453756768415905e-07, -4.241119350125206e-09,
-1.201510367057409e-06, -1.0470977280798866e-08,
1.7685458438001512e-07, 1.1949315143217294e-09,
5.587396987830503e-07, 4.642957903469745e-09,
2.9220024793875183e-06 2.1290087711485076e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.12054029018367488, 0.01106424748245525,
0.08830099309323201, 0.007583507197405511,
0.13666916841201748 0.012495779066943349
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0004435823914983552, 3.814172974021706e-05,
0.0006438888463659884, 5.628813952065734e-05,
0.0017093865798547497 0.00014591123230061858
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.002102351465766203, 0.00019222801078158322,
0.0020835784347472295, 0.00018537827810069307,
0.0028971913893548595 0.00025675710791414196
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
2.102351465766203, 0.19222801078158322,
2.0835784347472295, 0.18537827810069307,
2.8971913893548593 0.25675710791414197
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.1641860240833824, "roll": 0.011650350638942372,
"pitch": 0.11691666897486501, "pitch": 0.008781763210457127,
"yaw": 0.09444969393074534 "yaw": 0.008185734033228566
} }
} }
}, },
@@ -225,10 +225,10 @@
1026.25 1026.25
], ],
"projected_center_px": [ "projected_center_px": [
1154.9810791015625, 1151.9476318359375,
1029.5865478515625 1026.491455078125
], ],
"reprojection_error_px": 4.4743026468421885, "reprojection_error_px": 0.24706877455402326,
"confidence": 0.4897720015297098 "confidence": 0.4897720015297098
}, },
{ {
@@ -238,10 +238,10 @@
1027.25 1027.25
], ],
"projected_center_px": [ "projected_center_px": [
876.1599731445312, 876.5326538085938,
1029.891845703125 1027.1934814453125
], ],
"reprojection_error_px": 2.6636379223835944, "reprojection_error_px": 0.06527341142947249,
"confidence": 0.5416450286820796 "confidence": 0.5416450286820796
}, },
{ {
@@ -251,10 +251,10 @@
994.75 994.75
], ],
"projected_center_px": [ "projected_center_px": [
656.385009765625, 659.037841796875,
996.3325805664062 994.5985717773438
], ],
"reprojection_error_px": 3.056588813537625, "reprojection_error_px": 0.1560849390798471,
"confidence": 0.8649082431225718 "confidence": 0.8649082431225718
}, },
{ {
@@ -264,10 +264,10 @@
961.0 961.0
], ],
"projected_center_px": [ "projected_center_px": [
1164.363525390625, 1161.8941650390625,
963.16015625 961.3054809570312
], ],
"reprojection_error_px": 3.022129150322769, "reprojection_error_px": 0.4689745563824551,
"confidence": 0.7960923757637975 "confidence": 0.7960923757637975
}, },
{ {
@@ -277,10 +277,10 @@
933.75 933.75
], ],
"projected_center_px": [ "projected_center_px": [
999.096435546875, 998.4364013671875,
934.7568969726562 933.5623168945312
], ],
"reprojection_error_px": 1.064828202896083, "reprojection_error_px": 0.3654709982751889,
"confidence": 0.8637747711006405 "confidence": 0.8637747711006405
}, },
{ {
@@ -290,10 +290,10 @@
912.25 912.25
], ],
"projected_center_px": [ "projected_center_px": [
1108.423095703125, 1106.950927734375,
913.1748046875 912.1368408203125
], ],
"reprojection_error_px": 1.9116780434574518, "reprojection_error_px": 0.23060128878351585,
"confidence": 0.743066266439157 "confidence": 0.743066266439157
}, },
{ {
@@ -303,10 +303,10 @@
927.0 927.0
], ],
"projected_center_px": [ "projected_center_px": [
732.9255981445312, 734.4984741210938,
927.8060302734375 927.0548095703125
], ],
"reprojection_error_px": 1.5503951355918266, "reprojection_error_px": 0.2544473970217664,
"confidence": 0.8019389766111062 "confidence": 0.8019389766111062
}, },
{ {
@@ -316,10 +316,10 @@
845.75 845.75
], ],
"projected_center_px": [ "projected_center_px": [
361.7016906738281, 364.6623840332031,
837.4412841796875 845.900146484375
], ],
"reprojection_error_px": 8.850251314552466, "reprojection_error_px": 0.1738405142880198,
"confidence": 0.6228300628754091 "confidence": 0.6228300628754091
}, },
{ {
@@ -329,10 +329,10 @@
821.5 821.5
], ],
"projected_center_px": [ "projected_center_px": [
1333.8487548828125, 1331.8565673828125,
821.9577026367188 821.57568359375
], ],
"reprojection_error_px": 2.3929356872249734, "reprojection_error_px": 0.36451104900766856,
"confidence": 0.601549080134278 "confidence": 0.601549080134278
}, },
{ {
@@ -342,10 +342,10 @@
809.0 809.0
], ],
"projected_center_px": [ "projected_center_px": [
915.7758178710938, 916.0746459960938,
808.5881958007812 808.76171875
], ],
"reprojection_error_px": 0.46887133140674575, "reprojection_error_px": 0.24969977740156404,
"confidence": 0.6813525019168335 "confidence": 0.6813525019168335
}, },
{ {
@@ -355,10 +355,10 @@
795.25 795.25
], ],
"projected_center_px": [ "projected_center_px": [
1018.4383544921875, 1018.3504638671875,
795.1937255859375 795.3241577148438
], ],
"reprojection_error_px": 0.083468427034051, "reprojection_error_px": 0.1669144142588188,
"confidence": 0.6827978007642943 "confidence": 0.6827978007642943
}, },
{ {
@@ -368,10 +368,10 @@
765.25 765.25
], ],
"projected_center_px": [ "projected_center_px": [
1294.73291015625, 1293.821533203125,
765.3604125976562 765.3156127929688
], ],
"reprojection_error_px": 0.9890921680918318, "reprojection_error_px": 0.09706718163459038,
"confidence": 0.5581601454743093 "confidence": 0.5581601454743093
}, },
{ {
@@ -381,10 +381,10 @@
762.0 762.0
], ],
"projected_center_px": [ "projected_center_px": [
1047.4676513671875, 1047.4703369140625,
761.85302734375 762.0767211914062
], ],
"reprojection_error_px": 0.2626272631007082, "reprojection_error_px": 0.23331201621301026,
"confidence": 0.616624476061661 "confidence": 0.616624476061661
}, },
{ {
@@ -394,10 +394,10 @@
713.75 713.75
], ],
"projected_center_px": [ "projected_center_px": [
144.16445922851562, 144.44461059570312,
712.6126098632812 713.7537231445312
], ],
"reprojection_error_px": 1.1858515642496856, "reprojection_error_px": 0.0555143937511998,
"confidence": 0.38049126145778556 "confidence": 0.38049126145778556
}, },
{ {
@@ -407,10 +407,10 @@
654.25 654.25
], ],
"projected_center_px": [ "projected_center_px": [
1369.23876953125, 1369.9781494140625,
654.2969970703125 654.1135864257812
], ],
"reprojection_error_px": 0.7626798484103948, "reprojection_error_px": 0.13815249305367777,
"confidence": 0.36938172995419555 "confidence": 0.36938172995419555
}, },
{ {
@@ -420,10 +420,10 @@
627.75 627.75
], ],
"projected_center_px": [ "projected_center_px": [
1318.5479736328125, 1319.7215576171875,
627.9376831054688 627.6553344726562
], ],
"reprojection_error_px": 1.2165904551213496, "reprojection_error_px": 0.09884599742692202,
"confidence": 0.39949701144177324 "confidence": 0.39949701144177324
}, },
{ {
@@ -433,10 +433,10 @@
602.5 602.5
], ],
"projected_center_px": [ "projected_center_px": [
68.80003356933594, 65.8623046875,
601.6883544921875 602.2079467773438
], ],
"reprojection_error_px": 2.9152969693944324, "reprojection_error_px": 0.3228855585937126,
"confidence": 0.2389002996853347 "confidence": 0.2389002996853347
}, },
{ {
@@ -446,10 +446,10 @@
525.5 525.5
], ],
"projected_center_px": [ "projected_center_px": [
1221.1568603515625, 1223.882568359375,
520.3214111328125 525.3695678710938
], ],
"reprojection_error_px": 5.907725934390967, "reprojection_error_px": 0.17550706672637365,
"confidence": 0.3668959235531314 "confidence": 0.3668959235531314
}, },
{ {
@@ -459,10 +459,10 @@
565.5 565.5
], ],
"projected_center_px": [ "projected_center_px": [
159.512451171875, 156.17344665527344,
565.599365234375 565.63818359375
], ],
"reprojection_error_px": 3.2639640161421757, "reprojection_error_px": 0.1579718967743597,
"confidence": 0.2637568632301829 "confidence": 0.2637568632301829
}, },
{ {
@@ -472,10 +472,10 @@
478.25 478.25
], ],
"projected_center_px": [ "projected_center_px": [
1315.789794921875, 1319.6966552734375,
473.9991149902344 478.0428161621094
], ],
"reprojection_error_px": 6.161448912811185, "reprojection_error_px": 0.5908599911126295,
"confidence": 0.32449684623408637 "confidence": 0.32449684623408637
}, },
{ {
@@ -485,10 +485,10 @@
473.5 473.5
], ],
"projected_center_px": [ "projected_center_px": [
1137.20654296875, 1139.9918212890625,
469.48150634765625 473.5305480957031
], ],
"reprojection_error_px": 4.755782259917087, "reprojection_error_px": 0.2437431475856018,
"confidence": 0.35164169987391336 "confidence": 0.35164169987391336
}, },
{ {
@@ -498,10 +498,10 @@
448.5 448.5
], ],
"projected_center_px": [ "projected_center_px": [
579.8921508789062, 577.8909912109375,
450.8130187988281 448.7003173828125
], ],
"reprojection_error_px": 3.327527879850783, "reprojection_error_px": 0.4393189967292813,
"confidence": 0.24026049545287548 "confidence": 0.24026049545287548
}, },
{ {
@@ -511,10 +511,10 @@
473.0 473.0
], ],
"projected_center_px": [ "projected_center_px": [
737.8471069335938, 737.3865356445312,
474.6405334472656 472.893798828125
], ],
"reprojection_error_px": 1.6768521744465406, "reprojection_error_px": 0.15541186849646377,
"confidence": 0.2647897353782805 "confidence": 0.2647897353782805
}, },
{ {
@@ -524,10 +524,10 @@
449.25 449.25
], ],
"projected_center_px": [ "projected_center_px": [
652.8363647460938, 651.5125122070312,
451.49468994140625 449.3551025390625
], ],
"reprojection_error_px": 2.7486698675358383, "reprojection_error_px": 0.2827705829074202,
"confidence": 0.2690571067318116 "confidence": 0.2690571067318116
}, },
{ {
@@ -537,10 +537,10 @@
387.75 387.75
], ],
"projected_center_px": [ "projected_center_px": [
1003.25341796875, 1005.2095947265625,
391.5485534667969 387.92022705078125
], ],
"reprojection_error_px": 4.2913107843204426, "reprojection_error_px": 0.1749566658897037,
"confidence": 0.2429182303832221 "confidence": 0.2429182303832221
} }
] ]

510
data/evaluations/Scene9a/render_b_aruco_detection.json
View File

File diff suppressed because it is too large Load Diff

458
data/evaluations/Scene9a/render_b_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:00Z", "created_utc": "2026-06-01T19:27:38Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_b_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -95,10 +95,10 @@
3 3
], ],
"rms": [ "rms": [
0.006999579458406147, 0.010381557960673358,
0.0020901524138866798, 0.00039594169900564636,
0.0020600363593040057, 6.731011061441996e-05,
0.0020600362130630333 6.730258832874077e-05
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -107,135 +107,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 6.137625452185308, "residual_rms_px": 0.19035874664383615,
"residual_median_px": 4.3268112566931, "residual_median_px": 0.17033196571035036,
"residual_max_px": 14.55892371936529, "residual_max_px": 0.3689997217418299,
"sigma2_normalized": 4.526665812296901e-06 "sigma2_normalized": 4.8316142886293405e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.9999719858169556, 0.9999222755432129,
-0.004386201035231352, -0.012455984018743038,
-0.006066351197659969 0.0005312375142239034
], ],
[ [
-0.007407011929899454, -0.009375645779073238,
-0.6970998048782349, -0.7793634533882141,
-0.7169358730316162 -0.6265019774436951
], ],
[ [
-0.0010842272313311696, 0.008217725902795792,
0.7169607281684875, 0.6264483332633972,
-0.6971127390861511 -0.7794196605682373
] ]
], ],
"translation_m": [ "translation_m": [
-0.310520201921463, -0.31129518151283264,
0.04088573157787323, 0.052724823355674744,
1.514184594154358 1.4961134195327759
], ],
"rvec_rad": [ "rvec_rad": [
2.3421499881779266, 2.4644986026205564,
-0.008137882143793804, -0.01511898786234727,
-0.004934241766356949 0.006058891282399197
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.31245607137680054, 0.2994706630706787,
-1.058471441268921, -0.9000234007835388,
1.0829861164093018 1.1992977857589722
], ],
"position_mm": [ "position_mm": [
312.4560852050781, 299.4706726074219,
-1058.471435546875, -900.0233764648438,
1082.986083984375 1199.2977294921875
], ],
"orientation_deg": { "orientation_deg": {
"roll": 134.19583129882812, "roll": 141.20986938476562,
"pitch": 0.06212165579199791, "pitch": -0.4708462655544281,
"yaw": -0.4243946373462677 "yaw": -0.5372108817100525
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
1.1240709559154574e-05, 1.6052781509497757e-08,
1.9271737115338463e-07, 5.7927371625107e-11,
1.530129947791286e-06, 2.1802434515175697e-09,
4.220389652873893e-07, 5.544380205069283e-10,
-4.486466142465673e-09, 3.6544435497743456e-10,
3.327528103629088e-06 4.189948494228431e-09
], ],
[ [
1.9271737115337844e-07, 5.792737162509936e-11,
3.408568559685686e-06, 3.6305215252495973e-09,
-1.0947607117156778e-07, 2.585949781835384e-10,
9.561372438641025e-08, 8.891348021558321e-11,
-1.083112525336712e-06, -1.2032127213074348e-09,
5.381109407046655e-07 2.802599178648309e-10
], ],
[ [
1.5301299477912923e-06, 2.1802434515174924e-09,
-1.0947607117156249e-07, 2.585949781835337e-10,
2.128291272842541e-05, 3.1630315276090724e-08,
5.935298765587346e-07, 1.1167738346443354e-09,
-2.997335680160183e-06, -3.831857463376756e-09,
-7.674096313989285e-06 -1.1242323234390167e-08
], ],
[ [
4.220389652873893e-07, 5.544380205069247e-10,
9.561372438640518e-08, 8.891348021558326e-11,
5.935298765587306e-07, 1.1167738346443461e-09,
2.874175809188009e-07, 3.226855758173064e-10,
-7.262401382394157e-08, -1.0621165137907283e-10,
3.9949810424330656e-07 2.2167254125386016e-10
], ],
[ [
-4.486466142462864e-09, 3.6544435497744883e-10,
-1.0831125253367158e-06, -1.2032127213074327e-09,
-2.997335680160182e-06, -3.831857463376753e-09,
-7.262401382394384e-08, -1.062116513790712e-10,
1.0224372198071557e-06, 1.1245972664528897e-09,
1.3858491730445708e-06 1.8365162817429452e-09
], ],
[ [
3.3275281036290845e-06, 4.189948494228466e-09,
5.38110940704609e-07, 2.8025991786483563e-10,
-7.674096313989292e-06, -1.1242323234390124e-08,
3.9949810424330386e-07, 2.216725412538669e-10,
1.3858491730445909e-06, 1.8365162817429408e-09,
9.365131130403793e-06 1.0697355786966035e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.19209651927984106, 0.007259350733690331,
0.10578123894238786, 0.003452288967763808,
0.2643249535167286 0.010190004898979397
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0005361134030396936, 1.7963451111000535e-05,
0.0010111563775238505, 3.353501552784626e-05,
0.003060250174479824 0.00010342802225202817
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.0054459751935046164, 0.0002034501572115009,
0.0032527567145687075, 0.0001301108644528075,
0.004808615334252989 0.00015645969679231478
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
5.445975193504617, 0.20345015721150092,
3.2527567145687075, 0.1301108644528075,
4.8086153342529885 0.15645969679231478
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.25579198784286444, "roll": 0.005799846123960678,
"pitch": 0.19459043110678356, "pitch": 0.007383801757732522,
"yaw": 0.11073163220454699 "yaw": 0.0036339709269032
} }
} }
}, },
@@ -248,10 +248,10 @@
1014.0 1014.0
], ],
"projected_center_px": [ "projected_center_px": [
1303.056396484375, 1296.8265380859375,
1021.8287963867188 1013.9735107421875
], ],
"reprojection_error_px": 10.05289458230006, "reprojection_error_px": 0.08099234148012531,
"confidence": 0.760673653400868 "confidence": 0.760673653400868
}, },
{ {
@@ -261,10 +261,10 @@
1034.0 1034.0
], ],
"projected_center_px": [ "projected_center_px": [
771.4820556640625, 773.38720703125,
1040.722412109375 1033.89599609375
], ],
"reprojection_error_px": 6.951003650067026, "reprojection_error_px": 0.1721702121149221,
"confidence": 0.4409463063063063 "confidence": 0.4409463063063063
}, },
{ {
@@ -274,10 +274,10 @@
1006.0 1006.0
], ],
"projected_center_px": [ "projected_center_px": [
1018.956298828125, 1017.4114379882812,
1012.4421997070312 1005.9620971679688
], ],
"reprojection_error_px": 6.604751573077656, "reprojection_error_px": 0.09633200192906385,
"confidence": 0.7334418063933661 "confidence": 0.7334418063933661
}, },
{ {
@@ -287,10 +287,10 @@
962.25 962.25
], ],
"projected_center_px": [ "projected_center_px": [
1383.195556640625, 1376.8194580078125,
968.211181640625 962.3223876953125
], ],
"reprojection_error_px": 8.597709499611923, "reprojection_error_px": 0.1945132113140047,
"confidence": 0.5878075337294003 "confidence": 0.5878075337294003
}, },
{ {
@@ -300,10 +300,10 @@
972.5 972.5
], ],
"projected_center_px": [ "projected_center_px": [
772.9192504882812, 774.392822265625,
976.7353515625 972.484375
], ],
"reprojection_error_px": 4.520726919066253, "reprojection_error_px": 0.10831069832088637,
"confidence": 0.7263332595825196 "confidence": 0.7263332595825196
}, },
{ {
@@ -313,10 +313,10 @@
970.75 970.75
], ],
"projected_center_px": [ "projected_center_px": [
267.14117431640625, 272.3750915527344,
973.297119140625 970.8115844726562
], ],
"reprojection_error_px": 5.933365707899881, "reprojection_error_px": 0.1392650978194387,
"confidence": 0.6999764351430906 "confidence": 0.6999764351430906
}, },
{ {
@@ -326,10 +326,10 @@
958.25 958.25
], ],
"projected_center_px": [ "projected_center_px": [
535.7633666992188, 539.080078125,
961.09619140625 958.1680908203125
], ],
"reprojection_error_px": 4.310058079044583, "reprojection_error_px": 0.11454963911158685,
"confidence": 0.6938248147266242 "confidence": 0.6938248147266242
}, },
{ {
@@ -339,10 +339,10 @@
957.25 957.25
], ],
"projected_center_px": [ "projected_center_px": [
1195.822509765625, 1192.3201904296875,
962.3106689453125 957.2440185546875
], ],
"reprojection_error_px": 6.194610254046361, "reprojection_error_px": 0.07044483024141877,
"confidence": 0.6970072834744087 "confidence": 0.6970072834744087
}, },
{ {
@@ -352,10 +352,10 @@
942.0 942.0
], ],
"projected_center_px": [ "projected_center_px": [
1041.427490234375, 1040.0294189453125,
946.102294921875 942.1116943359375
], ],
"reprojection_error_px": 4.343564434341617, "reprojection_error_px": 0.11550367536931008,
"confidence": 0.6879793294270834 "confidence": 0.6879793294270834
}, },
{ {
@@ -365,10 +365,10 @@
941.25 941.25
], ],
"projected_center_px": [ "projected_center_px": [
682.0855712890625, 684.078369140625,
943.9362182617188 941.132568359375
], ],
"reprojection_error_px": 3.2986066511260663, "reprojection_error_px": 0.1411804250672882,
"confidence": 0.6507490007228183 "confidence": 0.6507490007228183
}, },
{ {
@@ -378,10 +378,10 @@
898.5 898.5
], ],
"projected_center_px": [ "projected_center_px": [
1406.7762451171875, 1401.7216796875,
902.0303344726562 898.4509887695312
], ],
"reprojection_error_px": 6.34838751380774, "reprojection_error_px": 0.22703300324437103,
"confidence": 0.22496309819539395 "confidence": 0.22496309819539395
}, },
{ {
@@ -391,10 +391,10 @@
883.5 883.5
], ],
"projected_center_px": [ "projected_center_px": [
1215.830078125, 1213.2747802734375,
886.031494140625 883.4989013671875
], ],
"reprojection_error_px": 3.4405997518778935, "reprojection_error_px": 0.22522240613878533,
"confidence": 0.6525563227335612 "confidence": 0.6525563227335612
}, },
{ {
@@ -404,10 +404,10 @@
886.5 886.5
], ],
"projected_center_px": [ "projected_center_px": [
343.3118591308594, 345.66943359375,
886.6741943359375 886.5842895507812
], ],
"reprojection_error_px": 2.4443556542464333, "reprojection_error_px": 0.11660048965139452,
"confidence": 0.6367497422354562 "confidence": 0.6367497422354562
}, },
{ {
@@ -417,10 +417,10 @@
850.0 850.0
], ],
"projected_center_px": [ "projected_center_px": [
246.85137939453125, 248.0020751953125,
848.6774291992188 849.7652587890625
], ],
"reprojection_error_px": 1.5989723311090094, "reprojection_error_px": 0.344449328935678,
"confidence": 0.5966625464303152 "confidence": 0.5966625464303152
}, },
{ {
@@ -430,10 +430,10 @@
847.25 847.25
], ],
"projected_center_px": [ "projected_center_px": [
428.5144958496094, 429.75341796875,
846.5291748046875 847.183837890625
], ],
"reprojection_error_px": 1.4304053508812682, "reprojection_error_px": 0.0662503375638603,
"confidence": 0.5644916934603736 "confidence": 0.5644916934603736
}, },
{ {
@@ -443,10 +443,10 @@
835.5 835.5
], ],
"projected_center_px": [ "projected_center_px": [
1199.328125, 1197.6922607421875,
836.5704345703125 835.454833984375
], ],
"reprojection_error_px": 1.9069107700532573, "reprojection_error_px": 0.07330614476410614,
"confidence": 0.5608112640925816 "confidence": 0.5608112640925816
}, },
{ {
@@ -456,10 +456,10 @@
827.0 827.0
], ],
"projected_center_px": [ "projected_center_px": [
855.1614990234375, 855.4191284179688,
827.0347290039062 827.0259399414062
], ],
"reprojection_error_px": 0.09507116579087743, "reprojection_error_px": 0.17110611422381106,
"confidence": 0.5915048217773438 "confidence": 0.5915048217773438
}, },
{ {
@@ -469,10 +469,10 @@
841.75 841.75
], ],
"projected_center_px": [ "projected_center_px": [
806.0877075195312, 806.5693359375,
841.8871459960938 841.6591796875
], ],
"reprojection_error_px": 0.43450444611720773, "reprojection_error_px": 0.11426198576780276,
"confidence": 0.5707100255698545 "confidence": 0.5707100255698545
}, },
{ {
@@ -482,10 +482,10 @@
826.75 826.75
], ],
"projected_center_px": [ "projected_center_px": [
518.8102416992188, 519.6000366210938,
825.9820556640625 826.84912109375
], ],
"reprojection_error_px": 1.2136243928768695, "reprojection_error_px": 0.1797609697325195,
"confidence": 0.5616105134531453 "confidence": 0.5616105134531453
}, },
{ {
@@ -495,10 +495,10 @@
808.75 808.75
], ],
"projected_center_px": [ "projected_center_px": [
723.7137451171875, 724.1511840820312,
808.1036987304688 808.8262939453125
], ],
"reprojection_error_px": 0.7068572620633558, "reprojection_error_px": 0.16934400713039263,
"confidence": 0.5317700588218801 "confidence": 0.5317700588218801
}, },
{ {
@@ -508,10 +508,10 @@
699.75 699.75
], ],
"projected_center_px": [ "projected_center_px": [
1327.263427734375, 1328.396240234375,
691.9859619140625 699.9928588867188
], ],
"reprojection_error_px": 7.861895341964365, "reprojection_error_px": 0.2640956792922322,
"confidence": 0.5085178133372956 "confidence": 0.5085178133372956
}, },
{ {
@@ -521,10 +521,10 @@
701.5 701.5
], ],
"projected_center_px": [ "projected_center_px": [
1189.1712646484375, 1190.329345703125,
693.125 701.3816528320312
], ],
"reprojection_error_px": 8.444187051381007, "reprojection_error_px": 0.14248435974037346,
"confidence": 0.48699451715805947 "confidence": 0.48699451715805947
}, },
{ {
@@ -534,10 +534,10 @@
705.75 705.75
], ],
"projected_center_px": [ "projected_center_px": [
775.0186767578125, 775.1851196289062,
696.5408935546875 705.5576171875
], ],
"reprojection_error_px": 9.221676289296113, "reprojection_error_px": 0.3689997217418299,
"confidence": 0.4966751237638301 "confidence": 0.4966751237638301
}, },
{ {
@@ -547,10 +547,10 @@
631.5 631.5
], ],
"projected_center_px": [ "projected_center_px": [
332.65399169921875, 327.62451171875,
621.7177734375 631.5887451171875
], ],
"reprojection_error_px": 11.056924841731373, "reprojection_error_px": 0.1529014843966605,
"confidence": 0.45180041003079296 "confidence": 0.45180041003079296
}, },
{ {
@@ -560,10 +560,10 @@
612.5 612.5
], ],
"projected_center_px": [ "projected_center_px": [
1170.8377685546875, 1173.229248046875,
603.9804077148438 612.55908203125
], ],
"reprojection_error_px": 8.854508075045633, "reprojection_error_px": 0.06262052359353261,
"confidence": 0.415572869657266 "confidence": 0.415572869657266
}, },
{ {
@@ -573,10 +573,10 @@
611.25 611.25
], ],
"projected_center_px": [ "projected_center_px": [
1303.6693115234375, 1306.6795654296875,
602.8783569335938 611.265625
], ],
"reprojection_error_px": 8.920484803021235, "reprojection_error_px": 0.07214685939184398,
"confidence": 0.4319802331725756 "confidence": 0.4319802331725756
}, },
{ {
@@ -586,10 +586,10 @@
616.25 616.25
], ],
"projected_center_px": [ "projected_center_px": [
772.4580078125, 771.9967651367188,
607.2855224609375 616.4480590820312
], ],
"reprojection_error_px": 8.976170046554772, "reprojection_error_px": 0.19808549748911403,
"confidence": 0.4123737373737374 "confidence": 0.4123737373737374
}, },
{ {
@@ -599,10 +599,10 @@
451.5 451.5
], ],
"projected_center_px": [ "projected_center_px": [
1314.3726806640625, 1320.172607421875,
450.8058776855469 451.7215881347656
], ],
"reprojection_error_px": 5.918165962864389, "reprojection_error_px": 0.2347145343129458,
"confidence": 0.29718147824605307 "confidence": 0.29718147824605307
}, },
{ {
@@ -612,10 +612,10 @@
449.75 449.75
], ],
"projected_center_px": [ "projected_center_px": [
1401.5194091796875, 1408.3426513671875,
448.9013977050781 449.73468017578125
], ],
"reprojection_error_px": 6.783876373093894, "reprojection_error_px": 0.09390938640948705,
"confidence": 0.08771815461586722 "confidence": 0.08771815461586722
}, },
{ {
@@ -625,10 +625,10 @@
458.25 458.25
], ],
"projected_center_px": [ "projected_center_px": [
1172.8941650390625, 1176.8555908203125,
457.0670166015625 458.1650390625
], ],
"reprojection_error_px": 3.794930234733951, "reprojection_error_px": 0.3655997707759068,
"confidence": 0.3072119400220424 "confidence": 0.3072119400220424
}, },
{ {
@@ -638,10 +638,10 @@
440.25 440.25
], ],
"projected_center_px": [ "projected_center_px": [
317.18145751953125, 305.82562255859375,
439.1272888183594 440.4569396972656
], ],
"reprojection_error_px": 11.237680928842162, "reprojection_error_px": 0.27061324870704073,
"confidence": 0.303144246426618 "confidence": 0.303144246426618
}, },
{ {
@@ -651,10 +651,10 @@
455.75 455.75
], ],
"projected_center_px": [ "projected_center_px": [
1037.3668212890625, 1039.520751953125,
454.6943054199219 455.8487548828125
], ],
"reprojection_error_px": 2.6065363635813816, "reprojection_error_px": 0.24961408989741105,
"confidence": 0.3018093319641008 "confidence": 0.3018093319641008
}, },
{ {
@@ -664,10 +664,10 @@
458.5 458.5
], ],
"projected_center_px": [ "projected_center_px": [
946.8638916015625, 947.674560546875,
457.2505798339844 458.50506591796875
], ],
"reprojection_error_px": 1.4020287606926018, "reprojection_error_px": 0.17463404035343505,
"confidence": 0.29533031082153327 "confidence": 0.29533031082153327
}, },
{ {
@@ -677,10 +677,10 @@
391.5 391.5
], ],
"projected_center_px": [ "projected_center_px": [
1324.867919921875, 1332.1326904296875,
391.58746337890625 391.47589111328125
], ],
"reprojection_error_px": 7.132616356109251, "reprojection_error_px": 0.13486285088737707,
"confidence": 0.30576462173461916 "confidence": 0.30576462173461916
}, },
{ {
@@ -690,10 +690,10 @@
442.5 442.5
], ],
"projected_center_px": [ "projected_center_px": [
990.807861328125, 992.3477172851562,
441.67315673828125 442.6492614746094
], ],
"reprojection_error_px": 1.6623578821562732, "reprojection_error_px": 0.17840307065987673,
"confidence": 0.29023840891081715 "confidence": 0.29023840891081715
}, },
{ {
@@ -703,10 +703,10 @@
435.5 435.5
], ],
"projected_center_px": [ "projected_center_px": [
875.2227783203125, 874.8937377929688,
434.67779541015625 435.5990905761719
], ],
"reprojection_error_px": 0.9484406822346024, "reprojection_error_px": 0.1745837776358428,
"confidence": 0.28925843574260846 "confidence": 0.28925843574260846
}, },
{ {
@@ -716,10 +716,10 @@
419.0 419.0
], ],
"projected_center_px": [ "projected_center_px": [
927.6744995117188, 928.250244140625,
418.3480224609375 418.9337463378906
], ],
"reprojection_error_px": 1.0519152853697753, "reprojection_error_px": 0.2583941505434053,
"confidence": 0.29830989494958376 "confidence": 0.29830989494958376
}, },
{ {
@@ -729,10 +729,10 @@
418.5 418.5
], ],
"projected_center_px": [ "projected_center_px": [
1031.2042236328125, 1033.5281982421875,
417.8130187988281 418.3390197753906
], ],
"reprojection_error_px": 2.396358132437676, "reprojection_error_px": 0.16343125030957123,
"confidence": 0.29698484802246095 "confidence": 0.29698484802246095
}, },
{ {
@@ -742,10 +742,10 @@
379.0 379.0
], ],
"projected_center_px": [ "projected_center_px": [
831.7435302734375, 830.4579467773438,
379.302978515625 379.06683349609375
], ],
"reprojection_error_px": 1.2799076224032233, "reprojection_error_px": 0.07896321761357901,
"confidence": 0.2669997914632161 "confidence": 0.2669997914632161
}, },
{ {
@@ -755,10 +755,10 @@
357.0 357.0
], ],
"projected_center_px": [ "projected_center_px": [
861.3968505859375, 860.6695556640625,
357.79034423828125 357.0008544921875
], ],
"reprojection_error_px": 1.1954016013377289, "reprojection_error_px": 0.16955781719688967,
"confidence": 0.2669997914632161 "confidence": 0.2669997914632161
}, },
{ {
@@ -768,10 +768,10 @@
350.75 350.75
], ],
"projected_center_px": [ "projected_center_px": [
778.827880859375, 776.2611083984375,
351.7146301269531 350.7724609375
], ],
"reprojection_error_px": 2.519829473847405, "reprojection_error_px": 0.23994518334501977,
"confidence": 0.24741065232219583 "confidence": 0.24741065232219583
}, },
{ {
@@ -781,10 +781,10 @@
370.75 370.75
], ],
"projected_center_px": [ "projected_center_px": [
965.3787841796875, 966.7688598632812,
370.908203125 370.4334411621094
], ],
"reprojection_error_px": 1.3803119410608053, "reprojection_error_px": 0.3171201543416161,
"confidence": 0.24601027725867788 "confidence": 0.24601027725867788
}, },
{ {
@@ -794,10 +794,10 @@
341.5 341.5
], ],
"projected_center_px": [ "projected_center_px": [
1052.036376953125, 1055.312744140625,
342.58465576171875 341.3646240234375
], ],
"reprojection_error_px": 3.3917327737951055, "reprojection_error_px": 0.14920952453855058,
"confidence": 0.23929733651024956 "confidence": 0.23929733651024956
}, },
{ {
@@ -807,10 +807,10 @@
327.5 327.5
], ],
"projected_center_px": [ "projected_center_px": [
1096.7330322265625, 1101.0426025390625,
329.1306457519531 327.53521728515625
], ],
"reprojection_error_px": 4.802291477475696, "reprojection_error_px": 0.210366261499078,
"confidence": 0.23929733651024956 "confidence": 0.23929733651024956
}, },
{ {
@@ -820,10 +820,10 @@
318.0 318.0
], ],
"projected_center_px": [ "projected_center_px": [
343.17498779296875, 328.8058776855469,
319.97027587890625 318.0777282714844
], ],
"reprojection_error_px": 14.55892371936529, "reprojection_error_px": 0.09572878318470442,
"confidence": 0.23586633094211165 "confidence": 0.23586633094211165
}, },
{ {
@@ -833,10 +833,10 @@
329.5 329.5
], ],
"projected_center_px": [ "projected_center_px": [
1019.7108764648438, 1022.405517578125,
330.8871765136719 329.3425598144531
], ],
"reprojection_error_px": 3.1150391288786974, "reprojection_error_px": 0.18361465101783112,
"confidence": 0.2333535968235561 "confidence": 0.2333535968235561
}, },
{ {
@@ -846,10 +846,10 @@
317.0 317.0
], ],
"projected_center_px": [ "projected_center_px": [
1185.6361083984375, 1191.8740234375,
319.04736328125 317.16448974609375
], ],
"reprojection_error_px": 6.447586131341499, "reprojection_error_px": 0.20600652809875405,
"confidence": 0.22907950351895312 "confidence": 0.22907950351895312
}, },
{ {
@@ -859,10 +859,10 @@
314.75 314.75
], ],
"projected_center_px": [ "projected_center_px": [
418.6180725097656, 406.3145446777344,
316.6445007324219 314.6448059082031
], ],
"reprojection_error_px": 12.265268622296226, "reprojection_error_px": 0.2132122733465787,
"confidence": 0.2227662572065438 "confidence": 0.2227662572065438
} }
] ]

348
data/evaluations/Scene9a/render_c_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:25:56Z", "created_utc": "2026-06-01T19:27:32Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_c.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_c.png",
"image_sha256": "df8fb761b22dee7f907a168509a1308dbf7a4eb1b5fef78c3b00b85e8688196c", "image_sha256": "53db05fee3227cd2c1dc17acabe6ee7dac12a9b8ca1b006dff9e2343a92f95f4",
"width_px": 1440, "width_px": 1440,
"height_px": 1080 "height_px": 1080
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 16, "num_detected_markers": 18,
"num_rejected_candidates": 27 "num_rejected_candidates": 29
}, },
"detections": [ "detections": [
{ {
"observation_id": "915f6eb9-85f2-45d5-8bee-0666d87071a8", "observation_id": "4974982a-9129-43f9-908d-5d6ba5b30190",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 4027.5, "area_px": 4027.5,
"perimeter_px": 254.1422119140625, "perimeter_px": 254.1422119140625,
"sharpness": { "sharpness": {
"laplacian_var": 683.4934452896103 "laplacian_var": 682.8925917981763
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 48.68277945619335, "mean_gray": 48.676737160120844,
"std_gray": 62.705190470263986 "std_gray": 62.70232293735682
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.24034085869789124, "distance_to_center_norm": 0.24034085869789124,
@@ -100,7 +100,7 @@
"confidence": 0.9538908635111087 "confidence": 0.9538908635111087
}, },
{ {
"observation_id": "20417158-e8bb-41f9-9644-ffea474d0d2c", "observation_id": "8c071f78-fe4f-4270-9112-3939c7c410cd",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 3537.0, "area_px": 3537.0,
"perimeter_px": 238.16261291503906, "perimeter_px": 238.16261291503906,
"sharpness": { "sharpness": {
"laplacian_var": 1310.3593617148474 "laplacian_var": 1312.44443540316
}, },
"contrast": { "contrast": {
"p05": 21.0, "p05": 21.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 80.17611683848797, "mean_gray": 80.15850515463917,
"std_gray": 72.3971298630855 "std_gray": 72.39602246363964
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3442226052284241, "distance_to_center_norm": 0.3442226052284241,
@@ -154,7 +154,61 @@
"confidence": 0.9184217889652145 "confidence": 0.9184217889652145
}, },
{ {
"observation_id": "2ade18e7-8d66-496c-acb2-7b92db80fce5", "observation_id": "85c138db-c70b-48d5-a735-4c7a15f4c49c",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
760.0,
800.0
],
[
759.0,
858.0
],
[
698.0,
854.0
],
[
699.0,
797.0
]
],
"center_px": [
729.0,
827.25
],
"quality": {
"area_px": 3511.0,
"perimeter_px": 237.22212600708008,
"sharpness": {
"laplacian_var": 1647.4798024495442
},
"contrast": {
"p05": 22.0,
"p95": 179.0,
"dynamic_range": 157.0,
"mean_gray": 88.52213541666667,
"std_gray": 73.34249727038657
},
"geometry": {
"distance_to_center_norm": 0.3193233013153076,
"distance_to_border_px": 222.0
},
"edge_ratio": 1.072308842305738,
"edge_lengths_px": [
58.00862121582031,
61.13100814819336,
57.00876998901367,
61.073726654052734
]
},
"confidence": 0.9325671490778201
},
{
"observation_id": "cb6e7155-98ce-4ad4-ab38-d45831041907",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 3294.0, "area_px": 3294.0,
"perimeter_px": 230.2226104736328, "perimeter_px": 230.2226104736328,
"sharpness": { "sharpness": {
"laplacian_var": 1290.4790189498276 "laplacian_var": 1291.5012799032506
}, },
"contrast": { "contrast": {
"p05": 22.0, "p05": 22.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 72.21798365122616, "mean_gray": 72.2102633969119,
"std_gray": 69.3615537913106 "std_gray": 69.35403797276491
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3470955491065979, "distance_to_center_norm": 0.3470955491065979,
@@ -208,7 +262,7 @@
"confidence": 0.9161280314324941 "confidence": 0.9161280314324941
}, },
{ {
"observation_id": "c55c1467-6afb-4b98-86a3-f8e7a7d3ff78", "observation_id": "ef315a88-7213-4123-be19-c94bf938e4c8",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 1945.0, "area_px": 1945.0,
"perimeter_px": 192.60353088378906, "perimeter_px": 192.60353088378906,
"sharpness": { "sharpness": {
"laplacian_var": 2451.0625367565162 "laplacian_var": 2453.8801492537314
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 73.50597014925373, "mean_gray": 73.49402985074627,
"std_gray": 70.69875630774416 "std_gray": 70.68689080389304
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.729324460029602, "distance_to_center_norm": 0.729324460029602,
@@ -262,7 +316,7 @@
"confidence": 0.3300237835361035 "confidence": 0.3300237835361035
}, },
{ {
"observation_id": "0f3e9d9a-0ac1-48db-8c4a-9b617d885d1e", "observation_id": "f9d01596-750e-466b-8980-f373b38f72fd",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +346,14 @@
"area_px": 1970.5, "area_px": 1970.5,
"perimeter_px": 189.7305088043213, "perimeter_px": 189.7305088043213,
"sharpness": { "sharpness": {
"laplacian_var": 1574.3804243784862 "laplacian_var": 1571.8553506321732
}, },
"contrast": { "contrast": {
"p05": 17.0, "p05": 17.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 82.6858407079646, "mean_gray": 82.66371681415929,
"std_gray": 71.5225698650742 "std_gray": 71.50857909454218
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6948910355567932, "distance_to_center_norm": 0.6948910355567932,
@@ -316,7 +370,7 @@
"confidence": 0.2039898727848836 "confidence": 0.2039898727848836
}, },
{ {
"observation_id": "41454cc5-33e0-438a-a8f2-881b2536c460", "observation_id": "0339e3e7-c44f-4a35-8db4-bf9c1ad1b1b3",
"type": "aruco", "type": "aruco",
"marker_id": 62, "marker_id": 62,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +400,14 @@
"area_px": 1898.0, "area_px": 1898.0,
"perimeter_px": 187.4389991760254, "perimeter_px": 187.4389991760254,
"sharpness": { "sharpness": {
"laplacian_var": 1314.2657848481515 "laplacian_var": 1315.3840152066566
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 171.0, "p95": 171.0,
"dynamic_range": 152.0, "dynamic_range": 152.0,
"mean_gray": 44.15255530129672, "mean_gray": 44.15026697177727,
"std_gray": 50.56336690152075 "std_gray": 50.560937378210824
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7483583092689514, "distance_to_center_norm": 0.7483583092689514,
@@ -370,7 +424,7 @@
"confidence": 0.3084011374684583 "confidence": 0.3084011374684583
}, },
{ {
"observation_id": "14600b14-389d-4a88-804a-c9ee6827d807", "observation_id": "1ce57011-9c96-4ced-8d74-fc27ec6b24b1",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +454,14 @@
"area_px": 1729.0, "area_px": 1729.0,
"perimeter_px": 185.8551139831543, "perimeter_px": 185.8551139831543,
"sharpness": { "sharpness": {
"laplacian_var": 2760.665852671177 "laplacian_var": 2760.994923429915
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 165.0, "dynamic_range": 165.0,
"mean_gray": 72.1457800511509, "mean_gray": 72.14663256606991,
"std_gray": 72.5179348226274 "std_gray": 72.5175980593837
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8080878257751465, "distance_to_center_norm": 0.8080878257751465,
@@ -424,7 +478,7 @@
"confidence": 0.640874213187769 "confidence": 0.640874213187769
}, },
{ {
"observation_id": "e0c01457-9ec4-478a-93b1-ec921ba8adf7", "observation_id": "31c5fa02-cdfa-4de5-a839-33a5eed01e24",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +508,14 @@
"area_px": 1812.0, "area_px": 1812.0,
"perimeter_px": 184.3890724182129, "perimeter_px": 184.3890724182129,
"sharpness": { "sharpness": {
"laplacian_var": 2196.8448896009504 "laplacian_var": 2194.976811425055
}, },
"contrast": { "contrast": {
"p05": 29.0, "p05": 29.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 151.0, "dynamic_range": 151.0,
"mean_gray": 113.55211726384364, "mean_gray": 113.54478827361564,
"std_gray": 69.228270762138 "std_gray": 69.2209236259253
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6003458499908447, "distance_to_center_norm": 0.6003458499908447,
@@ -478,7 +532,7 @@
"confidence": 0.5442461717587225 "confidence": 0.5442461717587225
}, },
{ {
"observation_id": "d2586607-7f59-4d8e-8719-dff844c800ee", "observation_id": "3afc1014-5055-4113-b170-da923fc18c66",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 1757.0, "area_px": 1757.0,
"perimeter_px": 178.22705459594727, "perimeter_px": 178.22705459594727,
"sharpness": { "sharpness": {
"laplacian_var": 2744.599869245792 "laplacian_var": 2735.2012914577845
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 92.17985012489592, "mean_gray": 92.01332223147377,
"std_gray": 69.25478880313894 "std_gray": 69.24207128141674
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5688309669494629, "distance_to_center_norm": 0.5688309669494629,
@@ -532,7 +586,7 @@
"confidence": 0.4827302826357835 "confidence": 0.4827302826357835
}, },
{ {
"observation_id": "b2d177d3-cb53-4f9c-af89-f3c92eac9dde", "observation_id": "b75882ba-ffff-44bd-9002-a687ba32c6ed",
"type": "aruco", "type": "aruco",
"marker_id": 51, "marker_id": 51,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +616,14 @@
"area_px": 1722.0, "area_px": 1722.0,
"perimeter_px": 177.65619277954102, "perimeter_px": 177.65619277954102,
"sharpness": { "sharpness": {
"laplacian_var": 2353.596692802173 "laplacian_var": 2353.212723223178
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 155.0, "dynamic_range": 155.0,
"mean_gray": 77.38468085106383, "mean_gray": 77.35063829787234,
"std_gray": 67.04888102104867 "std_gray": 67.04151484236117
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.521373450756073, "distance_to_center_norm": 0.521373450756073,
@@ -586,7 +640,7 @@
"confidence": 0.5134730357373242 "confidence": 0.5134730357373242
}, },
{ {
"observation_id": "203cdf78-727d-4f2f-8d0a-085fb7dc4511", "observation_id": "460c555e-eda0-410d-b5fd-e0d1936363d0",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +670,14 @@
"area_px": 1398.5, "area_px": 1398.5,
"perimeter_px": 167.82257843017578, "perimeter_px": 167.82257843017578,
"sharpness": { "sharpness": {
"laplacian_var": 2221.4297803786844 "laplacian_var": 2221.314699973797
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 65.05607476635514, "mean_gray": 65.08411214953271,
"std_gray": 67.96466136269656 "std_gray": 67.94235987004105
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.22587177157402039, "distance_to_center_norm": 0.22587177157402039,
@@ -640,7 +694,61 @@
"confidence": 0.3958073181309517 "confidence": 0.3958073181309517
}, },
{ {
"observation_id": "33a61ccb-81f6-48d3-950c-a8f81dd44cb2", "observation_id": "a98c70ce-8527-4ef6-99c9-a31d1531be9d",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
792.0,
867.0
],
[
853.0,
870.0
],
[
854.0,
892.0
],
[
794.0,
889.0
]
],
"center_px": [
823.25,
879.5
],
"quality": {
"area_px": 1326.5,
"perimeter_px": 165.26211738586426,
"sharpness": {
"laplacian_var": 1539.96614802188
},
"contrast": {
"p05": 25.0,
"p95": 134.0,
"dynamic_range": 109.0,
"mean_gray": 73.01597444089457,
"std_gray": 47.19010519269186
},
"geometry": {
"distance_to_center_norm": 0.39428138732910156,
"distance_to_border_px": 188.0
},
"edge_ratio": 2.773215188141253,
"edge_lengths_px": [
61.073726654052734,
22.022714614868164,
60.074954986572266,
22.090721130371094
]
},
"confidence": 0.31888377689365593
},
{
"observation_id": "8cd5bedb-5f4c-4ec0-9db8-d9d6424f120c",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +778,14 @@
"area_px": 1353.5, "area_px": 1353.5,
"perimeter_px": 160.3841037750244, "perimeter_px": 160.3841037750244,
"sharpness": { "sharpness": {
"laplacian_var": 1677.6401187202734 "laplacian_var": 1675.8249746860138
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 143.0, "p95": 143.0,
"dynamic_range": 132.0, "dynamic_range": 132.0,
"mean_gray": 54.52693965517241, "mean_gray": 54.50754310344828,
"std_gray": 55.728031531652995 "std_gray": 55.72132735687418
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.506416380405426, "distance_to_center_norm": 0.506416380405426,
@@ -694,7 +802,7 @@
"confidence": 0.38947547888708767 "confidence": 0.38947547888708767
}, },
{ {
"observation_id": "27312315-a8f7-4e63-8812-cf3dcd75515d", "observation_id": "c564f52f-0d1a-4766-a391-8ee54a0c1d6d",
"type": "aruco", "type": "aruco",
"marker_id": 198, "marker_id": 198,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +832,14 @@
"area_px": 1021.0, "area_px": 1021.0,
"perimeter_px": 146.61585998535156, "perimeter_px": 146.61585998535156,
"sharpness": { "sharpness": {
"laplacian_var": 3154.1811673606544 "laplacian_var": 3154.009214616764
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 176.0, "p95": 176.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 85.1951566951567, "mean_gray": 85.1951566951567,
"std_gray": 68.23198930125653 "std_gray": 68.22971363486911
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.1316678375005722, "distance_to_center_norm": 0.1316678375005722,
@@ -748,7 +856,7 @@
"confidence": 0.25097952059332207 "confidence": 0.25097952059332207
}, },
{ {
"observation_id": "a6770eee-2af8-4b80-bfa5-deaea01a4882", "observation_id": "be07323b-d911-4346-9815-b714d94f8c36",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +886,14 @@
"area_px": 1067.0, "area_px": 1067.0,
"perimeter_px": 144.31543350219727, "perimeter_px": 144.31543350219727,
"sharpness": { "sharpness": {
"laplacian_var": 1116.4435182456568 "laplacian_var": 1114.5771424361562
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 139.0, "p95": 139.0,
"dynamic_range": 126.0, "dynamic_range": 126.0,
"mean_gray": 71.45576407506702, "mean_gray": 71.40214477211796,
"std_gray": 54.62149848550704 "std_gray": 54.64711747643294
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.44440728425979614, "distance_to_center_norm": 0.44440728425979614,
@@ -802,7 +910,7 @@
"confidence": 0.2873822610945893 "confidence": 0.2873822610945893
}, },
{ {
"observation_id": "82f021d4-6a20-46e6-aea5-7a9f34a5dca6", "observation_id": "62587a22-c46e-456b-9c04-fbafc0f82cbb",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 938.0, "area_px": 938.0,
"perimeter_px": 142.1563835144043, "perimeter_px": 142.1563835144043,
"sharpness": { "sharpness": {
"laplacian_var": 2460.134555894439 "laplacian_var": 2459.076074679102
}, },
"contrast": { "contrast": {
"p05": 25.0, "p05": 25.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 154.0, "dynamic_range": 154.0,
"mean_gray": 87.09486780715396, "mean_gray": 87.10730948678072,
"std_gray": 64.13182881114612 "std_gray": 64.13253670200668
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.47941353917121887, "distance_to_center_norm": 0.47941353917121887,
@@ -856,7 +964,7 @@
"confidence": 0.28654954414305833 "confidence": 0.28654954414305833
}, },
{ {
"observation_id": "e2900440-5878-47c8-8eb0-25cc32f8b9ef", "observation_id": "cb7c2256-2cd5-40a4-b32a-98666a889c18",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +994,14 @@
"area_px": 613.5, "area_px": 613.5,
"perimeter_px": 114.43190670013428, "perimeter_px": 114.43190670013428,
"sharpness": { "sharpness": {
"laplacian_var": 1111.5657251756697 "laplacian_var": 1111.192474866114
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 151.0, "p95": 151.0,
"dynamic_range": 138.0, "dynamic_range": 138.0,
"mean_gray": 62.521444695259596, "mean_gray": 62.521444695259596,
"std_gray": 52.122934781080446 "std_gray": 52.12756852348085
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5350531339645386, "distance_to_center_norm": 0.5350531339645386,
@@ -1286,6 +1394,31 @@
], ],
"area_px": 99.5 "area_px": 99.5
}, },
{
"image_points_px": [
[
198.0,
1045.0
],
[
195.0,
1048.0
],
[
187.0,
1049.0
],
[
171.0,
1048.0
]
],
"center_px": [
187.75,
1047.5
],
"area_px": 48.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1361,6 +1494,31 @@
], ],
"area_px": 162.5 "area_px": 162.5
}, },
{
"image_points_px": [
[
707.0,
835.0
],
[
719.0,
836.0
],
[
719.0,
848.0
],
[
707.0,
847.0
]
],
"center_px": [
713.0,
841.5
],
"area_px": 144.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1486,6 +1644,31 @@
], ],
"area_px": 90.0 "area_px": 90.0
}, },
{
"image_points_px": [
[
875.0,
1032.0
],
[
878.0,
1030.0
],
[
897.0,
1030.0
],
[
895.0,
1032.0
]
],
"center_px": [
886.25,
1031.0
],
"area_px": 39.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1501,40 +1684,15 @@
879.0 879.0
], ],
[ [
227.0, 228.0,
882.0 882.0
] ]
], ],
"center_px": [ "center_px": [
225.75, 226.0,
879.75 879.75
], ],
"area_px": 47.5 "area_px": 48.0
},
{
"image_points_px": [
[
1124.0,
767.0
],
[
1136.0,
766.0
],
[
1146.0,
768.0
],
[
1127.0,
769.0
]
],
"center_px": [
1133.25,
767.5
],
"area_px": 37.5
}, },
{ {
"image_points_px": [ "image_points_px": [

236
data/evaluations/Scene9a/render_c_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:00Z", "created_utc": "2026-06-01T19:27:38Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_c_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -58,10 +58,10 @@
3 3
], ],
"rms": [ "rms": [
0.00546356446276085, 0.006047463339026257,
0.0010497598088245496, 0.00011704207472259981,
0.0010442609957532834, 5.09778497262171e-05,
0.001044260975021075 5.0977423718249516e-05
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -70,135 +70,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 3.3111091927223377, "residual_rms_px": 0.14418442485459615,
"residual_median_px": 1.5997879478259687, "residual_median_px": 0.14200728597216516,
"residual_max_px": 6.34195056655035, "residual_max_px": 0.23756241833036343,
"sigma2_normalized": 1.4994113529326172e-06 "sigma2_normalized": 3.5732093771056438e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.9935752153396606, 0.9937840700149536,
0.11317265778779984, 0.11132416129112244,
-0.0005273689748719335 0.00039957999251782894
], ],
[ [
0.028523631393909454, 0.033504657447338104,
-0.2549210786819458, -0.29566729068756104,
-0.966541051864624 -0.9547032713890076
], ],
[ [
-0.10952045768499374, -0.1061633974313736,
0.9603161811828613, 0.9487822651863098,
-0.2565113604068756 -0.29755932092666626
] ]
], ],
"translation_m": [ "translation_m": [
-0.19744928181171417, -0.19771532714366913,
0.09319739043712616, 0.10604608058929443,
1.008402705192566 1.0045173168182373
], ],
"rvec_rad": [ "rvec_rad": [
1.828026667136067, 1.8707073465978123,
0.10340271503930287, 0.10472795575064399,
-0.08030728442226412 -0.0764794502087088
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.3039631247520447, 0.2995762825012207,
-0.9222816228866577, -0.899703323841095,
0.3486417233943939 0.40022504329681396
], ],
"position_mm": [ "position_mm": [
303.963134765625, 299.5762939453125,
-922.2816162109375, -899.7033081054688,
348.6417236328125 400.22503662109375
], ],
"orientation_deg": { "orientation_deg": {
"roll": 104.95519256591797, "roll": 107.41259002685547,
"pitch": 6.287672519683838, "pitch": 6.094198703765869,
"yaw": 1.6443997621536255 "yaw": 1.9309511184692383
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
1.5574626564664295e-05, 3.9469096454892644e-08,
1.6838151272717883e-06, 4.196139941540294e-09,
3.3908544711404704e-06, 9.258905029476497e-09,
-5.424959046406641e-08, -1.4222038489807275e-10,
-2.417267743194079e-06, -5.876981198229907e-09,
2.487238797747623e-07 5.597975705823865e-10
], ],
[ [
1.6838151272718105e-06, 4.19613994154011e-09,
6.145831030404065e-06, 1.3918512125541874e-08,
-3.7729143750115464e-06, -8.603886703442746e-09,
8.059582398323655e-07, 1.8056818663479796e-09,
-6.361489462847983e-07, -1.483498833565245e-09,
1.5252955466430606e-06 3.419975439770749e-09
], ],
[ [
3.3908544711403357e-06, 9.2589050294771e-09,
-3.772914375011501e-06, -8.603886703442702e-09,
1.8478768356078474e-05, 4.928209371175322e-08,
-1.2916249039362978e-06, -3.123479267256664e-09,
-2.0586488910252107e-06, -5.516277050009136e-09,
-3.6769874507385137e-06 -9.620028509413362e-09
], ],
[ [
-5.424959046405785e-08, -1.4222038489811762e-10,
8.059582398323629e-07, 1.8056818663479787e-09,
-1.2916249039363035e-06, -3.1234792672566786e-09,
2.478919449655792e-07, 5.708205180916268e-10,
4.85525667244162e-08, 1.291633265099052e-10,
3.5897702700837357e-07 8.410094200415367e-10
], ],
[ [
-2.417267743194066e-06, -5.876981198229957e-09,
-6.36148946284801e-07, -1.4834988335652699e-09,
-2.0586488910252205e-06, -5.516277050009063e-09,
4.8552566724416145e-08, 1.2916332650989844e-10,
8.093972818473019e-07, 2.0059261713045168e-09,
6.959758322101854e-07 1.8976547817796495e-09
], ],
[ [
2.487238797747949e-07, 5.59797570582244e-10,
1.5252955466430526e-06, 3.419975439770743e-09,
-3.6769874507385184e-06, -9.620028509413395e-09,
3.589770270083728e-07, 8.410094200415354e-10,
6.959758322101832e-07, 1.8976547817796706e-09,
3.6283640917676686e-06 8.65660054160863e-09
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.22611608298734864, 0.01138285554996406,
0.14204074462177987, 0.006759569512065419,
0.24629701195859136 0.012719417053419441
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0004978874822342687, 2.389185045348365e-05,
0.0008996650942696966, 4.4787567150990874e-05,
0.0019048265253738118 9.304085415347728e-05
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.0034990148817802204, 0.00017707492757222876,
0.001970703553963727, 8.76809019935476e-05,
0.00339172232358696 0.00016354857824665047
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
3.4990148817802202, 0.17707492757222876,
1.9707035539637272, 0.0876809019935476,
3.39172232358696 0.16354857824665048
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.24483854829594867, "roll": 0.010387311100849807,
"pitch": 0.20937563732451328, "pitch": 0.010467074750680419,
"yaw": 0.13658005385657987 "yaw": 0.0068167058381912345
} }
} }
}, },
@@ -211,10 +211,10 @@
1035.5 1035.5
], ],
"projected_center_px": [ "projected_center_px": [
289.37335205078125, 289.6353454589844,
1036.43701171875 1035.451416015625
], ],
"reprojection_error_px": 0.9455319476972442, "reprojection_error_px": 0.1438012406255293,
"confidence": 0.3300237835361035 "confidence": 0.3300237835361035
}, },
{ {
@@ -224,10 +224,10 @@
1041.25 1041.25
], ],
"projected_center_px": [ "projected_center_px": [
1094.08984375, 1094.1231689453125,
1042.326171875 1041.3206787109375
], ],
"reprojection_error_px": 1.0799156466849984, "reprojection_error_px": 0.14200728597216516,
"confidence": 0.2039898727848836 "confidence": 0.2039898727848836
}, },
{ {
@@ -237,10 +237,10 @@
1031.5 1031.5
], ],
"projected_center_px": [ "projected_center_px": [
1180.4342041015625, 1180.3736572265625,
1032.5321044921875 1031.423095703125
], ],
"reprojection_error_px": 1.0341995856916668, "reprojection_error_px": 0.147907968945955,
"confidence": 0.3084011374684583 "confidence": 0.3084011374684583
}, },
{ {
@@ -250,10 +250,10 @@
987.25 987.25
], ],
"projected_center_px": [ "projected_center_px": [
146.81484985351562, 146.48367309570312,
988.8336791992188 987.3231201171875
], ],
"reprojection_error_px": 1.6146734147489243, "reprojection_error_px": 0.0749207537430921,
"confidence": 0.640874213187769 "confidence": 0.640874213187769
}, },
{ {
@@ -263,10 +263,10 @@
1004.5 1004.5
], ],
"projected_center_px": [ "projected_center_px": [
444.0111083984375, 444.1177978515625,
1005.6736450195312 1004.3406372070312
], ],
"reprojection_error_px": 1.1736975881317786, "reprojection_error_px": 0.1981737460299458,
"confidence": 0.5442461717587225 "confidence": 0.5442461717587225
}, },
{ {
@@ -276,10 +276,10 @@
997.75 997.75
], ],
"projected_center_px": [ "projected_center_px": [
948.9981079101562, 949.12939453125,
999.1561889648438 997.7208862304688
], ],
"reprojection_error_px": 1.4285716747066592, "reprojection_error_px": 0.12406970084886143,
"confidence": 0.4827302826357835 "confidence": 0.4827302826357835
}, },
{ {
@@ -289,10 +289,10 @@
993.5 993.5
], ],
"projected_center_px": [ "projected_center_px": [
599.3240966796875, 599.4412231445312,
995.090087890625 993.6293334960938
], ],
"reprojection_error_px": 1.5997879478259687, "reprojection_error_px": 0.14206291546574135,
"confidence": 0.5134730357373242 "confidence": 0.5134730357373242
}, },
{ {
@@ -302,10 +302,10 @@
866.75 866.75
], ],
"projected_center_px": [ "projected_center_px": [
1037.161376953125, 1037.7076416015625,
860.4354248046875 866.7933959960938
], ],
"reprojection_error_px": 6.34195056655035, "reprojection_error_px": 0.060641952435247067,
"confidence": 0.38947547888708767 "confidence": 0.38947547888708767
}, },
{ {
@@ -315,10 +315,10 @@
791.5 791.5
], ],
"projected_center_px": [ "projected_center_px": [
1030.6448974609375, 1031.1268310546875,
787.0243530273438 791.503662109375
], ],
"reprojection_error_px": 4.489711977075555, "reprojection_error_px": 0.12688391339416544,
"confidence": 0.2873822610945893 "confidence": 0.2873822610945893
}, },
{ {
@@ -328,10 +328,10 @@
768.5 768.5
], ],
"projected_center_px": [ "projected_center_px": [
355.5535583496094, 353.7624816894531,
764.7342529296875 768.4954223632812
], ],
"reprojection_error_px": 4.073621796780867, "reprojection_error_px": 0.23756241833036343,
"confidence": 0.28654954414305833 "confidence": 0.28654954414305833
}, },
{ {
@@ -341,10 +341,10 @@
695.5 695.5
], ],
"projected_center_px": [ "projected_center_px": [
1175.4212646484375, 1175.84619140625,
701.139404296875 695.5056762695312
], ],
"reprojection_error_px": 5.648977584924473, "reprojection_error_px": 0.09635873946946347,
"confidence": 0.15100478105105508 "confidence": 0.15100478105105508
} }
] ]

460
data/evaluations/Scene9a/render_d_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:25:56Z", "created_utc": "2026-06-01T19:27:33Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -35,18 +35,18 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_d.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_d.png",
"image_sha256": "781e6ac2ae143e2cc072c30032f2ad83f25ffe8b6f7777dc01d9536c3ae7ce2a", "image_sha256": "ac581602f627785eaf666e07b21f1dfab0ecd6a8a3f1d73ce22f034cce7824aa",
"width_px": 1440, "width_px": 1440,
"height_px": 1080 "height_px": 1080
}, },
"aruco": { "aruco": {
"dictionary": "DICT_4X4_250", "dictionary": "DICT_4X4_250",
"num_detected_markers": 21, "num_detected_markers": 23,
"num_rejected_candidates": 17 "num_rejected_candidates": 21
}, },
"detections": [ "detections": [
{ {
"observation_id": "c50c61aa-edab-402d-b4ab-4b1923fc9da1", "observation_id": "112fc7f1-e5e5-4ac0-9647-79b1df308add",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 3757.0, "area_px": 3757.0,
"perimeter_px": 245.30450820922852, "perimeter_px": 245.30450820922852,
"sharpness": { "sharpness": {
"laplacian_var": 626.35950420547 "laplacian_var": 625.7731792569356
}, },
"contrast": { "contrast": {
"p05": 20.0, "p05": 20.0,
"p95": 167.0, "p95": 167.0,
"dynamic_range": 147.0, "dynamic_range": 147.0,
"mean_gray": 54.886732673267325, "mean_gray": 54.88237623762376,
"std_gray": 58.53487614207568 "std_gray": 58.52775956670518
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.17051686346530914, "distance_to_center_norm": 0.17051686346530914,
@@ -100,7 +100,7 @@
"confidence": 0.9693858738451627 "confidence": 0.9693858738451627
}, },
{ {
"observation_id": "761b6636-8ad5-4c39-8a21-eac6517de9f6", "observation_id": "40357129-69bf-4bb1-a472-3d041797a3b1",
"type": "aruco", "type": "aruco",
"marker_id": 245, "marker_id": 245,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 2693.0, "area_px": 2693.0,
"perimeter_px": 211.3612174987793, "perimeter_px": 211.3612174987793,
"sharpness": { "sharpness": {
"laplacian_var": 1459.0289479559851 "laplacian_var": 1466.9415587532426
}, },
"contrast": { "contrast": {
"p05": 27.0, "p05": 27.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 151.0, "dynamic_range": 151.0,
"mean_gray": 83.69115191986644, "mean_gray": 83.67445742904842,
"std_gray": 68.65381606572971 "std_gray": 68.66963226922869
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3154030740261078, "distance_to_center_norm": 0.3154030740261078,
@@ -154,7 +154,61 @@
"confidence": 0.8922882811666598 "confidence": 0.8922882811666598
}, },
{ {
"observation_id": "095142dd-7b7e-4bb0-8c0a-286076c5f452", "observation_id": "4e229df9-47cf-4d84-b40a-45aef3b26f57",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
"image_points_px": [
[
663.0,
782.0
],
[
662.0,
837.0
],
[
616.0,
823.0
],
[
617.0,
769.0
]
],
"center_px": [
639.5,
802.75
],
"quality": {
"area_px": 2520.5,
"perimeter_px": 204.90328216552734,
"sharpness": {
"laplacian_var": 1961.1279187120654
},
"contrast": {
"p05": 28.0,
"p95": 179.0,
"dynamic_range": 151.0,
"mean_gray": 90.82501467997652,
"std_gray": 69.41029964800087
},
"geometry": {
"distance_to_center_norm": 0.30533894896507263,
"distance_to_border_px": 243.0
},
"edge_ratio": 1.1507774926697334,
"edge_lengths_px": [
55.009090423583984,
48.08325958251953,
54.00925827026367,
47.801673889160156
]
},
"confidence": 0.8689777184293561
},
{
"observation_id": "ebaeb836-41ae-4c0f-b515-37b88c7d6871",
"type": "aruco", "type": "aruco",
"marker_id": 95, "marker_id": 95,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +238,14 @@
"area_px": 1843.5, "area_px": 1843.5,
"perimeter_px": 191.36466217041016, "perimeter_px": 191.36466217041016,
"sharpness": { "sharpness": {
"laplacian_var": 2304.0216322181973 "laplacian_var": 2294.850153911718
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 81.89473684210526, "mean_gray": 81.78461538461538,
"std_gray": 72.5763499460358 "std_gray": 72.50051351314613
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.648134708404541, "distance_to_center_norm": 0.648134708404541,
@@ -208,7 +262,7 @@
"confidence": 0.2725094280309524 "confidence": 0.2725094280309524
}, },
{ {
"observation_id": "167bd806-b7da-4b74-82c5-6f9224a3d7ab", "observation_id": "642a37f9-5c23-487b-82b6-de0666a635c1",
"type": "aruco", "type": "aruco",
"marker_id": 243, "marker_id": 243,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +292,14 @@
"area_px": 2146.5, "area_px": 2146.5,
"perimeter_px": 190.64436721801758, "perimeter_px": 190.64436721801758,
"sharpness": { "sharpness": {
"laplacian_var": 1601.4059095047894 "laplacian_var": 1602.5684099600578
}, },
"contrast": { "contrast": {
"p05": 28.0, "p05": 28.0,
"p95": 177.0, "p95": 177.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 77.27526132404181, "mean_gray": 77.26341463414634,
"std_gray": 65.85917968117016 "std_gray": 65.86359269502138
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3314796984195709, "distance_to_center_norm": 0.3314796984195709,
@@ -262,7 +316,7 @@
"confidence": 0.874681194234216 "confidence": 0.874681194234216
}, },
{ {
"observation_id": "e06472e4-627d-4f53-b7a8-e88344fbd9eb", "observation_id": "da26c5c7-720e-4f45-acb4-a66591737665",
"type": "aruco", "type": "aruco",
"marker_id": 244, "marker_id": 244,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -292,14 +346,14 @@
"area_px": 1685.0, "area_px": 1685.0,
"perimeter_px": 182.9584732055664, "perimeter_px": 182.9584732055664,
"sharpness": { "sharpness": {
"laplacian_var": 453.5309323403695 "laplacian_var": 453.06692029549447
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 89.0, "p95": 89.0,
"dynamic_range": 74.0, "dynamic_range": 74.0,
"mean_gray": 46.73529411764706, "mean_gray": 46.71020761245675,
"std_gray": 33.00842662675249 "std_gray": 32.98397848927746
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.33333563804626465, "distance_to_center_norm": 0.33333563804626465,
@@ -316,7 +370,7 @@
"confidence": 0.5484990896687004 "confidence": 0.5484990896687004
}, },
{ {
"observation_id": "648c8fba-4ffb-49ab-85f8-76b76913dc47", "observation_id": "fa7a9db0-ad15-41fa-909a-cf9402e5fd9d",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +400,14 @@
"area_px": 1699.5, "area_px": 1699.5,
"perimeter_px": 181.064208984375, "perimeter_px": 181.064208984375,
"sharpness": { "sharpness": {
"laplacian_var": 3188.6638260449927 "laplacian_var": 3182.3880487501365
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 92.91289198606272, "mean_gray": 92.74564459930313,
"std_gray": 69.5158799770839 "std_gray": 69.54269317771836
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5464465618133545, "distance_to_center_norm": 0.5464465618133545,
@@ -370,7 +424,7 @@
"confidence": 0.6090066030375576 "confidence": 0.6090066030375576
}, },
{ {
"observation_id": "8c07cae7-3671-4904-8506-fe7036d77843", "observation_id": "be86d035-28ca-4265-a775-878217f5bee2",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +454,14 @@
"area_px": 1551.5, "area_px": 1551.5,
"perimeter_px": 177.7464485168457, "perimeter_px": 177.7464485168457,
"sharpness": { "sharpness": {
"laplacian_var": 2824.686257379149 "laplacian_var": 2824.5985708119847
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 187.0, "p95": 187.0,
"dynamic_range": 161.0, "dynamic_range": 161.0,
"mean_gray": 84.30783582089552, "mean_gray": 84.30876865671642,
"std_gray": 70.30581130162012 "std_gray": 70.30615881903077
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5111917853355408, "distance_to_center_norm": 0.5111917853355408,
@@ -424,7 +478,7 @@
"confidence": 0.5843223543702791 "confidence": 0.5843223543702791
}, },
{ {
"observation_id": "647a453e-cc9b-4cb5-8a1d-ba286bd317f5", "observation_id": "be49ada9-e3ed-4327-af92-e5ef695dae7a",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +508,14 @@
"area_px": 1461.0, "area_px": 1461.0,
"perimeter_px": 173.19879913330078, "perimeter_px": 173.19879913330078,
"sharpness": { "sharpness": {
"laplacian_var": 1792.7569912043616 "laplacian_var": 1793.656751394335
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 143.0, "p95": 143.0,
"dynamic_range": 133.0, "dynamic_range": 133.0,
"mean_gray": 53.630434782608695, "mean_gray": 53.6205533596838,
"std_gray": 55.641939909442975 "std_gray": 55.63244258945042
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5221329927444458, "distance_to_center_norm": 0.5221329927444458,
@@ -478,7 +532,7 @@
"confidence": 0.5977367963770058 "confidence": 0.5977367963770058
}, },
{ {
"observation_id": "9f4c4fba-a0c5-436d-bce3-0b8fb35e6d5c", "observation_id": "68b2edb1-b214-4414-ba96-0edddfd1ae4c",
"type": "aruco", "type": "aruco",
"marker_id": 69, "marker_id": 69,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +562,14 @@
"area_px": 1341.0, "area_px": 1341.0,
"perimeter_px": 171.05258560180664, "perimeter_px": 171.05258560180664,
"sharpness": { "sharpness": {
"laplacian_var": 3478.2419769165076 "laplacian_var": 3478.791712097108
}, },
"contrast": { "contrast": {
"p05": 19.0, "p05": 19.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 163.0, "dynamic_range": 163.0,
"mean_gray": 75.64155005382132, "mean_gray": 75.63616792249731,
"std_gray": 70.28770367273759 "std_gray": 70.28563149291014
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.791530430316925, "distance_to_center_norm": 0.791530430316925,
@@ -532,7 +586,61 @@
"confidence": 0.7042337796652973 "confidence": 0.7042337796652973
}, },
{ {
"observation_id": "8f1a0254-4050-4838-8ff2-42e57a5097c4", "observation_id": "13c29f2b-48da-481b-b910-0ad4cdd18a0a",
"type": "aruco",
"marker_id": 232,
"marker_size_m": 0.025,
"image_points_px": [
[
686.0,
852.0
],
[
737.0,
867.0
],
[
758.0,
892.0
],
[
711.0,
877.0
]
],
"center_px": [
723.0,
872.0
],
"quality": {
"area_px": 880.0,
"perimeter_px": 170.50071716308594,
"sharpness": {
"laplacian_var": 2360.626739898039
},
"contrast": {
"p05": 32.0,
"p95": 133.60000000000002,
"dynamic_range": 101.60000000000002,
"mean_gray": 77.42925278219396,
"std_gray": 41.09491324570707
},
"geometry": {
"distance_to_center_norm": 0.3689039349555969,
"distance_to_border_px": 188.0
},
"edge_ratio": 1.6281990781303837,
"edge_lengths_px": [
53.16013717651367,
32.649654388427734,
49.33558654785156,
35.35533905029297
]
},
"confidence": 0.36031629949104255
},
{
"observation_id": "72e4a4ab-3dc0-412d-a156-24df2de30fc2",
"type": "aruco", "type": "aruco",
"marker_id": 51, "marker_id": 51,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +670,14 @@
"area_px": 1319.0, "area_px": 1319.0,
"perimeter_px": 167.52729415893555, "perimeter_px": 167.52729415893555,
"sharpness": { "sharpness": {
"laplacian_var": 3102.180266216394 "laplacian_var": 3097.4832926431104
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 153.0, "dynamic_range": 153.0,
"mean_gray": 80.50772626931567, "mean_gray": 80.47682119205298,
"std_gray": 65.37675196489312 "std_gray": 65.36253131780053
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.47785019874572754, "distance_to_center_norm": 0.47785019874572754,
@@ -586,7 +694,7 @@
"confidence": 0.7503333159842179 "confidence": 0.7503333159842179
}, },
{ {
"observation_id": "161776f7-723b-4f77-b993-c73827c6f144", "observation_id": "6d07e9b4-60d0-4eb5-bec0-ca65fc428d49",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +724,14 @@
"area_px": 1054.5, "area_px": 1054.5,
"perimeter_px": 167.19464111328125, "perimeter_px": 167.19464111328125,
"sharpness": { "sharpness": {
"laplacian_var": 2896.301537827085 "laplacian_var": 2894.8225690346835
}, },
"contrast": { "contrast": {
"p05": 20.0, "p05": 20.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 159.0, "dynamic_range": 159.0,
"mean_gray": 69.719131614654, "mean_gray": 69.71641791044776,
"std_gray": 65.85433599128018 "std_gray": 65.85455100330621
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.21142612397670746, "distance_to_center_norm": 0.21142612397670746,
@@ -640,7 +748,7 @@
"confidence": 0.5210535524364001 "confidence": 0.5210535524364001
}, },
{ {
"observation_id": "a5fefe21-f967-401d-81af-2f7ebaddbb38", "observation_id": "dec6b1d9-7075-4d62-844f-509a8d7f47c6",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +778,14 @@
"area_px": 1231.0, "area_px": 1231.0,
"perimeter_px": 162.5311050415039, "perimeter_px": 162.5311050415039,
"sharpness": { "sharpness": {
"laplacian_var": 3166.8023588787255 "laplacian_var": 3163.2726588834817
}, },
"contrast": { "contrast": {
"p05": 23.0, "p05": 23.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 157.0, "dynamic_range": 157.0,
"mean_gray": 114.70828331332532, "mean_gray": 114.70228091236494,
"std_gray": 69.4678115831543 "std_gray": 69.45707964754051
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5262404084205627, "distance_to_center_norm": 0.5262404084205627,
@@ -694,7 +802,7 @@
"confidence": 0.7542345207653582 "confidence": 0.7542345207653582
}, },
{ {
"observation_id": "8047978d-8b90-42f7-b179-6c7cf42d4d6f", "observation_id": "ef27d9ba-1db2-410f-b596-c4a2d63ba082",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +832,14 @@
"area_px": 1181.0, "area_px": 1181.0,
"perimeter_px": 161.57122039794922, "perimeter_px": 161.57122039794922,
"sharpness": { "sharpness": {
"laplacian_var": 3367.539159754639 "laplacian_var": 3362.7993611357588
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 77.45714285714286, "mean_gray": 77.45465838509317,
"std_gray": 70.36624483168411 "std_gray": 70.35070615979228
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6234052181243896, "distance_to_center_norm": 0.6234052181243896,
@@ -748,7 +856,7 @@
"confidence": 0.7093145285353147 "confidence": 0.7093145285353147
}, },
{ {
"observation_id": "501cde1d-ddab-4b04-89b3-aad1f95624de", "observation_id": "b5dbeb1b-b19d-4349-a920-4c72bbff81c6",
"type": "aruco", "type": "aruco",
"marker_id": 214, "marker_id": 214,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -778,14 +886,14 @@
"area_px": 1178.5, "area_px": 1178.5,
"perimeter_px": 158.44748306274414, "perimeter_px": 158.44748306274414,
"sharpness": { "sharpness": {
"laplacian_var": 1957.7729279635796 "laplacian_var": 1956.1342956286262
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 140.0, "p95": 140.0,
"dynamic_range": 128.0, "dynamic_range": 128.0,
"mean_gray": 74.70588235294117, "mean_gray": 74.68286445012788,
"std_gray": 54.7366673549067 "std_gray": 54.755645872971684
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5291818976402283, "distance_to_center_norm": 0.5291818976402283,
@@ -802,7 +910,7 @@
"confidence": 0.4505055259062701 "confidence": 0.4505055259062701
}, },
{ {
"observation_id": "5a61688f-14ab-4e92-858f-392c38002662", "observation_id": "0ce44925-d34a-4a05-9d05-87d668820436",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -832,14 +940,14 @@
"area_px": 989.0, "area_px": 989.0,
"perimeter_px": 152.85848236083984, "perimeter_px": 152.85848236083984,
"sharpness": { "sharpness": {
"laplacian_var": 2647.6593732709625 "laplacian_var": 2648.2380966752175
}, },
"contrast": { "contrast": {
"p05": 18.0, "p05": 18.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 162.0, "dynamic_range": 162.0,
"mean_gray": 76.18156028368794, "mean_gray": 76.18439716312056,
"std_gray": 69.17127227544549 "std_gray": 69.17628860735195
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.6335132718086243, "distance_to_center_norm": 0.6335132718086243,
@@ -856,7 +964,7 @@
"confidence": 0.5844856220502335 "confidence": 0.5844856220502335
}, },
{ {
"observation_id": "bdaf06e0-a913-45bb-b98e-7bd303bea35c", "observation_id": "f7c7a8b5-142f-462e-a76b-55d461818079",
"type": "aruco", "type": "aruco",
"marker_id": 124, "marker_id": 124,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +994,14 @@
"area_px": 718.5, "area_px": 718.5,
"perimeter_px": 150.56854820251465, "perimeter_px": 150.56854820251465,
"sharpness": { "sharpness": {
"laplacian_var": 675.4335896094138 "laplacian_var": 674.050879523407
}, },
"contrast": { "contrast": {
"p05": 17.0, "p05": 17.0,
"p95": 74.0, "p95": 74.0,
"dynamic_range": 57.0, "dynamic_range": 57.0,
"mean_gray": 39.247252747252745, "mean_gray": 39.256410256410255,
"std_gray": 22.166520182354443 "std_gray": 22.16497015860964
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.31771910190582275, "distance_to_center_norm": 0.31771910190582275,
@@ -910,7 +1018,7 @@
"confidence": 0.07034469390132424 "confidence": 0.07034469390132424
}, },
{ {
"observation_id": "f6b00a12-1e91-4ffb-bbcf-4da43c1b1669", "observation_id": "ec1139ad-4db2-4926-854a-42d8b72a485e",
"type": "aruco", "type": "aruco",
"marker_id": 211, "marker_id": 211,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +1048,14 @@
"area_px": 983.0, "area_px": 983.0,
"perimeter_px": 147.15214347839355, "perimeter_px": 147.15214347839355,
"sharpness": { "sharpness": {
"laplacian_var": 1469.2871963501834 "laplacian_var": 1466.8141085314865
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 135.0, "p95": 135.0,
"dynamic_range": 125.0, "dynamic_range": 125.0,
"mean_gray": 56.70396600566572, "mean_gray": 56.6628895184136,
"std_gray": 53.15905803993234 "std_gray": 53.12473652933009
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3487820327281952, "distance_to_center_norm": 0.3487820327281952,
@@ -964,7 +1072,7 @@
"confidence": 0.4317344210578425 "confidence": 0.4317344210578425
}, },
{ {
"observation_id": "e1d36df5-f555-4227-9b61-841a0199eb7f", "observation_id": "f9452c76-d3aa-41d2-88ca-d5420bcb8872",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +1102,14 @@
"area_px": 830.5, "area_px": 830.5,
"perimeter_px": 136.94476890563965, "perimeter_px": 136.94476890563965,
"sharpness": { "sharpness": {
"laplacian_var": 1600.0183780567472 "laplacian_var": 1600.1183041396632
}, },
"contrast": { "contrast": {
"p05": 12.5, "p05": 12.0,
"p95": 154.0, "p95": 154.0,
"dynamic_range": 141.5, "dynamic_range": 142.0,
"mean_gray": 58.784588441330996, "mean_gray": 58.77583187390543,
"std_gray": 57.17598886717396 "std_gray": 57.173305628563476
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8173596262931824, "distance_to_center_norm": 0.8173596262931824,
@@ -1018,7 +1126,7 @@
"confidence": 0.01780842581967726 "confidence": 0.01780842581967726
}, },
{ {
"observation_id": "81d3d3f8-3938-4efa-8815-2323496b06f6", "observation_id": "5c62df98-393c-44d4-9d7e-40f7810bda70",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1156,14 @@
"area_px": 672.0, "area_px": 672.0,
"perimeter_px": 125.87768745422363, "perimeter_px": 125.87768745422363,
"sharpness": { "sharpness": {
"laplacian_var": 1867.6942383013811 "laplacian_var": 1868.7505153576583
}, },
"contrast": { "contrast": {
"p05": 13.0, "p05": 13.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 140.0, "dynamic_range": 140.0,
"mean_gray": 84.15367965367966, "mean_gray": 84.15367965367966,
"std_gray": 54.84026565893349 "std_gray": 54.84358097267205
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7705690264701843, "distance_to_center_norm": 0.7705690264701843,
@@ -1072,7 +1180,7 @@
"confidence": 0.1168227660503348 "confidence": 0.1168227660503348
}, },
{ {
"observation_id": "33736a81-a670-4f2f-a077-42f1bdfd563e", "observation_id": "d5d0658e-4b78-469b-8ab2-4243919776be",
"type": "aruco", "type": "aruco",
"marker_id": 86, "marker_id": 86,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1126,7 +1234,7 @@
"confidence": 0.1706963550335543 "confidence": 0.1706963550335543
}, },
{ {
"observation_id": "e9ce086c-2d82-42df-b913-f3a6e7ec03eb", "observation_id": "3b98c7dc-0c05-4df2-8745-fb31fd0c9f1f",
"type": "aruco", "type": "aruco",
"marker_id": 82, "marker_id": 82,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1156,14 +1264,14 @@
"area_px": 471.0, "area_px": 471.0,
"perimeter_px": 108.38695335388184, "perimeter_px": 108.38695335388184,
"sharpness": { "sharpness": {
"laplacian_var": 1068.059940216673 "laplacian_var": 1066.1291782269784
}, },
"contrast": { "contrast": {
"p05": 15.0, "p05": 15.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 138.0, "dynamic_range": 138.0,
"mean_gray": 84.46551724137932, "mean_gray": 84.45977011494253,
"std_gray": 49.805673700678305 "std_gray": 49.8090156169419
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.44237032532691956, "distance_to_center_norm": 0.44237032532691956,
@@ -1206,6 +1314,31 @@
], ],
"area_px": 2984.5 "area_px": 2984.5
}, },
{
"image_points_px": [
[
627.0,
704.0
],
[
590.0,
787.0
],
[
581.0,
772.0
],
[
588.0,
739.0
]
],
"center_px": [
596.5,
750.5
],
"area_px": 1172.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1331,6 +1464,31 @@
], ],
"area_px": 508.0 "area_px": 508.0
}, },
{
"image_points_px": [
[
899.0,
778.0
],
[
941.0,
789.0
],
[
931.0,
792.0
],
[
906.0,
784.0
]
],
"center_px": [
919.25,
785.75
],
"area_px": 165.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [
@@ -1384,27 +1542,52 @@
{ {
"image_points_px": [ "image_points_px": [
[ [
926.0, 898.0,
921.0 913.0
], ],
[ [
950.0, 923.0,
923.0 914.0
], ],
[ [
953.0, 931.0,
928.0 917.0
], ],
[ [
946.0, 917.0,
928.0 919.0
] ]
], ],
"center_px": [ "center_px": [
943.75, 917.25,
925.0 915.75
], ],
"area_px": 81.5 "area_px": 94.5
},
{
"image_points_px": [
[
397.0,
1063.0
],
[
401.0,
1062.0
],
[
425.0,
1073.0
],
[
413.0,
1071.0
]
],
"center_px": [
409.0,
1067.25
],
"area_px": 66.0
}, },
{ {
"image_points_px": [ "image_points_px": [
@@ -1417,7 +1600,7 @@
951.0 951.0
], ],
[ [
1043.0, 1045.0,
954.0 954.0
], ],
[ [
@@ -1426,10 +1609,60 @@
] ]
], ],
"center_px": [ "center_px": [
1034.0, 1034.5,
952.25 952.25
], ],
"area_px": 66.5 "area_px": 70.5
},
{
"image_points_px": [
[
537.0,
1051.0
],
[
540.0,
1050.0
],
[
563.0,
1061.0
],
[
543.0,
1055.0
]
],
"center_px": [
545.75,
1054.25
],
"area_px": 50.0
},
{
"image_points_px": [
[
506.0,
975.0
],
[
526.0,
982.0
],
[
531.0,
986.0
],
[
509.0,
979.0
]
],
"center_px": [
518.0,
980.5
],
"area_px": 56.0
}, },
{ {
"image_points_px": [ "image_points_px": [
@@ -1481,31 +1714,6 @@
], ],
"area_px": 128.0 "area_px": 128.0
}, },
{
"image_points_px": [
[
508.0,
975.0
],
[
530.0,
985.0
],
[
525.0,
985.0
],
[
510.0,
979.0
]
],
"center_px": [
518.25,
981.0
],
"area_px": 49.0
},
{ {
"image_points_px": [ "image_points_px": [
[ [

254
data/evaluations/Scene9a/render_d_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:00Z", "created_utc": "2026-06-01T19:27:39Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_d_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -61,10 +61,10 @@
3 3
], ],
"rms": [ "rms": [
0.0053337308801166845, 0.005471660536242196,
0.0009344492603034154, 0.00018857283445402484,
0.0009191027379054123, 7.037625055992313e-05,
0.0009191026923840131 7.03755304731932e-05
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -73,135 +73,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 2.9197644583478355, "residual_rms_px": 0.19904392813809113,
"residual_median_px": 1.6483190022662817, "residual_median_px": 0.20312329480890373,
"residual_max_px": 5.786009741975223, "residual_max_px": 0.272378069741828,
"sigma2_normalized": 1.0751360570962199e-06 "sigma2_normalized": 6.3034558225617755e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.8180499076843262, 0.8190047144889832,
0.5751392245292664, 0.5737867951393127,
0.003040031297132373 -0.00012450941721908748
], ],
[ [
0.14923235774040222, 0.16144898533821106,
-0.20715023577213287, -0.23065528273582458,
-0.9668601155281067 -0.9595479965209961
], ],
[ [
-0.5554494261741638, -0.5506047010421753,
0.791393518447876, 0.7858542203903198,
-0.25528860092163086 -0.28154507279396057
] ]
], ],
"translation_m": [ "translation_m": [
-0.11431853473186493, -0.11478376388549805,
0.07312013953924179, 0.08645989000797272,
1.129364252090454 1.126607894897461
], ],
"rvec_rad": [ "rvec_rad": [
1.7633574489774362, 1.7907209066073262,
0.5601106323026845, 0.5647731801146467,
-0.4271431798894595 -0.4230439892566446
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.7099111080169678, 0.7003651857376099,
-0.8128756284713745, -0.7995457053184509,
0.3593582808971405 0.4001390337944031
], ],
"position_mm": [ "position_mm": [
709.9111328125, 700.3651733398438,
-812.8756103515625, -799.5457153320312,
359.3582763671875 400.1390380859375
], ],
"orientation_deg": { "orientation_deg": {
"roll": 107.87871551513672, "roll": 109.71088409423828,
"pitch": 33.741676330566406, "pitch": 33.408504486083984,
"yaw": 10.338470458984375 "yaw": 11.15163516998291
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
7.0390918288314065e-06, 4.278710750019605e-08,
3.5167309712178513e-06, 2.1453286891989448e-08,
3.3380476520122207e-06, 2.0106838646428454e-08,
2.860581567120793e-08, 2.0796207880242059e-10,
-1.540068878873904e-06, -9.051992406760292e-09,
5.084939554920399e-08 6.415522230335285e-10
], ],
[ [
3.51673097121786e-06, 2.1453286891989448e-08,
5.067900359679545e-06, 2.925324256763357e-08,
2.816802807080249e-07, 2.34170327413966e-09,
4.849913464494662e-07, 2.7187876113360503e-09,
-9.517644901557308e-07, -5.504933197313997e-09,
1.1610090059757347e-06 6.45958319212135e-09
], ],
[ [
3.3380476520122423e-06, 2.0106838646428448e-08,
2.816802807080411e-07, 2.341703274139712e-09,
8.251986135376583e-06, 5.142609115791444e-08,
-5.44489439801433e-07, -3.2033987787672824e-09,
-1.4105508413638065e-06, -8.743518137173482e-09,
-2.3021668915476064e-06 -1.3931626279751674e-08
], ],
[ [
2.8605815671208537e-08, 2.0796207880242798e-10,
4.849913464494657e-07, 2.7187876113360487e-09,
-5.444894398014323e-07, -3.2033987787672774e-09,
1.589117897745958e-07, 9.089621766899998e-10,
1.5207361124054795e-08, 1.1494147081632667e-10,
2.877552990648593e-07 1.6312218814548775e-09
], ],
[ [
-1.5400688788739091e-06, -9.051992406760309e-09,
-9.517644901557335e-07, -5.504933197314013e-09,
-1.4105508413638034e-06, -8.743518137173486e-09,
1.5207361124054726e-08, 1.1494147081632697e-10,
5.496690534084394e-07, 3.2761019382935494e-09,
4.0426271132768564e-07 2.630227167877416e-09
], ],
[ [
5.0849395549195653e-08, 6.415522230334802e-10,
1.1610090059757273e-06, 6.45958319212131e-09,
-2.3021668915476123e-06, -1.3931626279751716e-08,
2.877552990648589e-07, 1.6312218814548744e-09,
4.042627113276883e-07, 2.63022716787743e-09,
2.554920951003417e-06 1.4828704282656734e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.15201307625991758, 0.011851657614033522,
0.12898424509211506, 0.009799629098055769,
0.16458940575086575 0.012993148140827315
], ],
"tvec_std_m": [ "tvec_std_m": [
0.00039863741642574873, 3.014899959683571e-05,
0.000741396690988326, 5.723724258115121e-05,
0.0015984120091526517 0.00012177316733442033
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.002531000014997963, 0.00020042535122651308,
0.0014422858125981727, 0.00010660704825847277,
0.00302761634998179 0.00021534765108479844
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
2.531000014997963, 0.2004253512265131,
1.4422858125981728, 0.10660704825847277,
3.02761634998179 0.21534765108479845
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.2165567067923546, "roll": 0.01632661395337427,
"pitch": 0.15379579919559766, "pitch": 0.010048404832200904,
"yaw": 0.17665405086934718 "yaw": 0.013899250634091209
} }
} }
}, },
@@ -214,10 +214,10 @@
1044.25 1044.25
], ],
"projected_center_px": [ "projected_center_px": [
426.31085205078125, 426.8625793457031,
1047.4344482421875 1044.3775634765625
], ],
"reprojection_error_px": 3.214585747569054, "reprojection_error_px": 0.17013685559471003,
"confidence": 0.2725094280309524 "confidence": 0.2725094280309524
}, },
{ {
@@ -227,10 +227,10 @@
1017.25 1017.25
], ],
"projected_center_px": [ "projected_center_px": [
838.4423217773438, 838.7135009765625,
1021.4285888671875 1017.1884155273438
], ],
"reprojection_error_px": 4.189901050106103, "reprojection_error_px": 0.07158788992727456,
"confidence": 0.6090066030375576 "confidence": 0.6090066030375576
}, },
{ {
@@ -240,10 +240,10 @@
918.5 918.5
], ],
"projected_center_px": [ "projected_center_px": [
998.4383544921875, 998.5984497070312,
914.381103515625 918.730224609375
], ],
"reprojection_error_px": 4.119357767617447, "reprojection_error_px": 0.2503911251949843,
"confidence": 0.5977367963770058 "confidence": 0.5977367963770058
}, },
{ {
@@ -253,10 +253,10 @@
933.25 933.25
], ],
"projected_center_px": [ "projected_center_px": [
126.50116729736328, 126.22989654541016,
933.0845336914062 933.23291015625
], ],
"reprojection_error_px": 0.5277762397323866, "reprojection_error_px": 0.23053087504914271,
"confidence": 0.7042337796652973 "confidence": 0.7042337796652973
}, },
{ {
@@ -266,10 +266,10 @@
936.0 936.0
], ],
"projected_center_px": [ "projected_center_px": [
552.1781005859375, 552.1586303710938,
937.4401245117188 935.816162109375
], ],
"reprojection_error_px": 1.4419182136985782, "reprojection_error_px": 0.2052919363148862,
"confidence": 0.7503333159842179 "confidence": 0.7503333159842179
}, },
{ {
@@ -279,10 +279,10 @@
912.5 912.5
], ],
"projected_center_px": [ "projected_center_px": [
427.48028564453125, 427.2748718261719,
913.3794555664062 912.6533203125
], ],
"reprojection_error_px": 0.879676502524926, "reprojection_error_px": 0.272378069741828,
"confidence": 0.7542345207653582 "confidence": 0.7542345207653582
}, },
{ {
@@ -292,10 +292,10 @@
906.0 906.0
], ],
"projected_center_px": [ "projected_center_px": [
295.02093505859375, 294.6763916015625,
905.8370361328125 905.7620849609375
], ],
"reprojection_error_px": 0.31616930272229765, "reprojection_error_px": 0.24904168753974634,
"confidence": 0.7093145285353147 "confidence": 0.7093145285353147
}, },
{ {
@@ -305,10 +305,10 @@
853.25 853.25
], ],
"projected_center_px": [ "projected_center_px": [
1078.693603515625, 1078.8302001953125,
848.586181640625 853.1599731445312
], ],
"reprojection_error_px": 4.664159329685595, "reprojection_error_px": 0.12056909236514285,
"confidence": 0.4505055259062701 "confidence": 0.4505055259062701
}, },
{ {
@@ -318,10 +318,10 @@
845.75 845.75
], ],
"projected_center_px": [ "projected_center_px": [
239.48809814453125, 238.66883850097656,
844.7482299804688 845.861572265625
], ],
"reprojection_error_px": 1.2443199118362267, "reprojection_error_px": 0.13796941465566565,
"confidence": 0.5844856220502335 "confidence": 0.5844856220502335
}, },
{ {
@@ -331,10 +331,10 @@
802.75 802.75
], ],
"projected_center_px": [ "projected_center_px": [
891.89306640625, 891.7192993164062,
796.9657592773438 802.6687622070312
], ],
"reprojection_error_px": 5.786009741975223, "reprojection_error_px": 0.08684532790862752,
"confidence": 0.4317344210578425 "confidence": 0.4317344210578425
}, },
{ {
@@ -344,10 +344,10 @@
806.25 806.25
], ],
"projected_center_px": [ "projected_center_px": [
1405.2694091796875, 1405.48974609375,
809.25 806.2963256835938
], ],
"reprojection_error_px": 3.038250736290315, "reprojection_error_px": 0.26434478371780296,
"confidence": 0.01780842581967726 "confidence": 0.01780842581967726
}, },
{ {
@@ -357,10 +357,10 @@
753.75 753.75
], ],
"projected_center_px": [ "projected_center_px": [
1379.6165771484375, 1379.89404296875,
755.5999145507812 753.5445556640625
], ],
"reprojection_error_px": 1.8547197908339854, "reprojection_error_px": 0.2509098483820709,
"confidence": 0.1168227660503348 "confidence": 0.1168227660503348
}, },
{ {
@@ -370,10 +370,10 @@
718.5 718.5
], ],
"projected_center_px": [ "projected_center_px": [
1321.1126708984375, 1321.3592529296875,
719.8292236328125 718.5111083984375
], ],
"reprojection_error_px": 1.336298899259901, "reprojection_error_px": 0.10981620627734356,
"confidence": 0.1706963550335543 "confidence": 0.1706963550335543
}, },
{ {
@@ -383,10 +383,10 @@
667.25 667.25
], ],
"projected_center_px": [ "projected_center_px": [
1097.388427734375, 1097.2659912109375,
667.1829223632812 667.4503173828125
], ],
"reprojection_error_px": 0.1538234279684605, "reprojection_error_px": 0.20095465330292128,
"confidence": 0.14200071347644871 "confidence": 0.14200071347644871
} }
] ]

631
data/evaluations/Scene9a/render_e_aruco_detection.json
View File

File diff suppressed because it is too large Load Diff

384
data/evaluations/Scene9a/render_e_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:01Z", "created_utc": "2026-06-01T19:27:39Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_e_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -36,7 +36,7 @@
"method": "single_camera_marker_center_lm", "method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.", "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025, "marker_size_m": 0.025,
"num_used_markers": 31, "num_used_markers": 32,
"used_marker_ids": [ "used_marker_ids": [
63, 63,
48, 48,
@@ -68,7 +68,8 @@
69, 69,
84, 84,
58, 58,
82 82,
52
], ],
"history": { "history": {
"iters": [ "iters": [
@@ -78,10 +79,10 @@
3 3
], ],
"rms": [ "rms": [
0.006135624506202246, 0.005892504934877056,
0.0008149432137469803, 0.00035996141933096763,
0.0007335278847997517, 0.00012520756818992516,
0.0007335272290757754 0.00012520421095038004
], ],
"lambda": [ "lambda": [
0.001, 0.001,
@@ -90,135 +91,135 @@
0.000125 0.000125
] ]
}, },
"residual_rms_px": 2.3164250051904007, "residual_rms_px": 0.3541340698808514,
"residual_median_px": 1.210112866214452, "residual_median_px": 0.2807325726929639,
"residual_max_px": 5.519090673015548, "residual_max_px": 0.6508016604855511,
"sigma2_normalized": 5.957117167731442e-07 "sigma2_normalized": 1.729775938166392e-08
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.6278152465820312, 0.6285571455955505,
0.7783603072166443, 0.7777633666992188,
0.0018029875354841352 6.0706974181812257e-05
], ],
[ [
0.1832990199327469, 0.20628829300403595,
-0.1455945521593094, -0.16663867235183716,
-0.9722158908843994 -0.9641974568367004
], ],
[ [
-0.7564717531204224, -0.749907374382019,
0.610702395439148, 0.6060657501220703,
-0.23407916724681854 -0.2651854157447815
] ]
], ],
"translation_m": [ "translation_m": [
-0.0540684349834919, -0.054485954344272614,
-0.013346238061785698, -0.01245536282658577,
1.5557801723480225 1.5511070489883423
], ],
"rvec_rad": [ "rvec_rad": [
1.6708052596377418, 1.7009998489199696,
0.8003757582161786, 0.8124087658220579,
-0.6281003604160035 -0.619054863852895
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
1.2132951021194458, 1.2000036239624023,
-0.9099770784378052, -0.8997712135314941,
0.3512977957725525 0.39932483434677124
], ],
"position_mm": [ "position_mm": [
1213.2950439453125, 1200.003662109375,
-909.97705078125, -899.771240234375,
351.29779052734375 399.3248291015625
], ],
"orientation_deg": { "orientation_deg": {
"roll": 110.97157287597656, "roll": 113.63188171386719,
"pitch": 49.15413284301758, "pitch": 48.58235168457031,
"yaw": 16.275867462158203 "yaw": 18.169492721557617
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
9.674211702797383e-07, 2.6681315559754855e-08,
-5.385610789069296e-08, -1.2703407533178576e-09,
2.1794713244740263e-08, 4.5578849902155925e-10,
-5.9466991722260355e-08, -1.4343016430537035e-09,
-2.542791959146881e-07, -6.426615451265435e-09,
2.491967749574832e-07 7.867103040008397e-09
], ],
[ [
-5.385610789069306e-08, -1.2703407533178742e-09,
6.480062127109734e-07, 1.7969694935794853e-08,
1.5320368215836804e-07, 5.751270092384321e-09,
1.7458569737148084e-07, 4.5760772790697536e-09,
-1.6690079203649188e-07, -4.700594039885001e-09,
5.0875922708577584e-08 2.012195266507892e-09
], ],
[ [
2.1794713244748683e-08, 4.5578849902175183e-10,
1.532036821583683e-07, 5.751270092384193e-09,
1.2903912205296468e-06, 3.859906723363607e-08,
-2.0354088606410824e-07, -5.3233589117952806e-09,
-1.9232991166387385e-07, -5.768624076799725e-09,
1.356961365794015e-07 3.90419167787456e-09
], ],
[ [
-5.946699172226258e-08, -1.4343016430537978e-09,
1.7458569737147984e-07, 4.5760772790696965e-09,
-2.0354088606410787e-07, -5.323358911795202e-09,
1.2762666295178617e-07, 3.341476757250424e-09,
4.628268535409571e-09, 1.1279260783911346e-10,
5.8363555876941104e-08 1.807658736588577e-09
], ],
[ [
-2.5427919591468903e-07, -6.426615451265452e-09,
-1.6690079203649183e-07, -4.700594039884986e-09,
-1.9232991166387112e-07, -5.768624076799685e-09,
4.628268535408582e-09, 1.1279260783906935e-10,
1.70681346572495e-07, 4.505405568860485e-09,
7.947990490299408e-09 3.1185948205028865e-10
], ],
[ [
2.491967749574844e-07, 7.86710304000844e-09,
5.087592270857816e-08, 2.0121952665079338e-09,
1.3569613657940128e-07, 3.904191677874653e-09,
5.836355587694031e-08, 1.8076587365885036e-09,
7.947990490298748e-09, 3.118594820502463e-10,
9.707411957916386e-07 2.7502714890519817e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.05635473681005101, 0.009358931143364096,
0.04612243391165133, 0.007680561740068315,
0.06508536312224222 0.011256698584359038
], ],
"tvec_std_m": [ "tvec_std_m": [
0.00035724874100797916, 5.780550801827127e-05,
0.0004131359904105366, 6.712231796400125e-05,
0.0009852619934776934 0.0001658394250186602
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.0008337339288298646, 0.00016275651975266063,
0.0010717055164650875, 0.00017469576304776117,
0.001129957048975217 0.0002034760590261023
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
0.8337339288298646, 0.16275651975266062,
1.0717055164650875, 0.17469576304776116,
1.1299570489752169 0.2034760590261023
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.07433572486830164, "roll": 0.012838064878513068,
"pitch": 0.05620895135619378, "pitch": 0.009014317454234042,
"yaw": 0.07176856381545137 "yaw": 0.011745035193242364
} }
} }
}, },
@@ -231,10 +232,10 @@
1053.5 1053.5
], ],
"projected_center_px": [ "projected_center_px": [
1322.8306884765625, 1321.94677734375,
1055.340576171875 1053.279541015625
], ],
"reprojection_error_px": 2.1343870848206064, "reprojection_error_px": 0.29550547677659406,
"confidence": 0.10255192012368959 "confidence": 0.10255192012368959
}, },
{ {
@@ -244,10 +245,10 @@
1034.0 1034.0
], ],
"projected_center_px": [ "projected_center_px": [
1024.298828125, 1024.2991943359375,
1035.4088134765625 1034.1036376953125
], ],
"reprojection_error_px": 1.4792942481248055, "reprojection_error_px": 0.46256515069827536,
"confidence": 0.44681708735370546 "confidence": 0.44681708735370546
}, },
{ {
@@ -257,10 +258,10 @@
989.25 989.25
], ],
"projected_center_px": [ "projected_center_px": [
812.7926635742188, 813.2672119140625,
989.85498046875 989.1659545898438
], ],
"reprojection_error_px": 0.6395230730980028, "reprojection_error_px": 0.2801175431587197,
"confidence": 0.7877495145220144 "confidence": 0.7877495145220144
}, },
{ {
@@ -270,10 +271,10 @@
952.0 952.0
], ],
"projected_center_px": [ "projected_center_px": [
985.8571166992188, 985.9683227539062,
953.04345703125 952.0379638671875
], ],
"reprojection_error_px": 1.0531942905785279, "reprojection_error_px": 0.04944393928394196,
"confidence": 0.7322350971120686 "confidence": 0.7322350971120686
}, },
{ {
@@ -283,10 +284,10 @@
935.25 935.25
], ],
"projected_center_px": [ "projected_center_px": [
1105.6416015625, 1105.557861328125,
936.665283203125 935.4140014648438
], ],
"reprojection_error_px": 1.4223493057439165, "reprojection_error_px": 0.1739092112663521,
"confidence": 0.6662611255220068 "confidence": 0.6662611255220068
}, },
{ {
@@ -296,10 +297,10 @@
909.25 909.25
], ],
"projected_center_px": [ "projected_center_px": [
1150.6844482421875, 1150.5721435546875,
910.6355590820312 909.3121948242188
], ],
"reprojection_error_px": 1.3977822161715103, "reprojection_error_px": 0.09525171201899478,
"confidence": 0.5732951023176659 "confidence": 0.5732951023176659
}, },
{ {
@@ -309,24 +310,24 @@
810.0 810.0
], ],
"projected_center_px": [ "projected_center_px": [
1282.8311767578125, 1283.06396484375,
804.4815063476562 810.2371215820312
], ],
"reprojection_error_px": 5.519090673015548, "reprojection_error_px": 0.3934470329993158,
"confidence": 0.4285406831584614 "confidence": 0.4285406831584614
}, },
{ {
"marker_id": 85, "marker_id": 85,
"observed_center_px": [ "observed_center_px": [
759.25, 759.25,
883.25 883.5
], ],
"projected_center_px": [ "projected_center_px": [
758.8756103515625, 759.2246704101562,
883.862548828125 883.43798828125
], ],
"reprojection_error_px": 0.717902274473668, "reprojection_error_px": 0.06698538186785012,
"confidence": 0.5100474968770633 "confidence": 0.5006042888224075
}, },
{ {
"marker_id": 105, "marker_id": 105,
@@ -335,10 +336,10 @@
871.75 871.75
], ],
"projected_center_px": [ "projected_center_px": [
855.9470825195312, 856.1866455078125,
872.51953125 871.8778076171875
], ],
"reprojection_error_px": 0.7713485622374122, "reprojection_error_px": 0.2262108145021642,
"confidence": 0.5297556344596553 "confidence": 0.5297556344596553
}, },
{ {
@@ -348,10 +349,10 @@
772.75 772.75
], ],
"projected_center_px": [ "projected_center_px": [
1374.560302734375, 1374.9215087890625,
767.494384765625 772.635498046875
], ],
"reprojection_error_px": 5.273976220764812, "reprojection_error_px": 0.13882207124184115,
"confidence": 0.21565926026494167 "confidence": 0.21565926026494167
}, },
{ {
@@ -361,10 +362,10 @@
775.5 775.5
], ],
"projected_center_px": [ "projected_center_px": [
611.66259765625, 611.740234375,
775.6491088867188 775.4573364257812
], ],
"reprojection_error_px": 0.17283700353656384, "reprojection_error_px": 0.04376697381313237,
"confidence": 0.28296118775935797 "confidence": 0.28296118775935797
}, },
{ {
@@ -374,10 +375,10 @@
793.5 793.5
], ],
"projected_center_px": [ "projected_center_px": [
544.6651611328125, 544.8057861328125,
793.4559936523438 793.4468383789062
], ],
"reprojection_error_px": 0.09557296699224632, "reprojection_error_px": 0.07706004523415058,
"confidence": 0.32604528713786163 "confidence": 0.32604528713786163
}, },
{ {
@@ -387,10 +388,10 @@
785.75 785.75
], ],
"projected_center_px": [ "projected_center_px": [
462.88116455078125, 462.971435546875,
785.4705200195312 785.6298828125
], ],
"reprojection_error_px": 0.462761977784703, "reprojection_error_px": 0.303358357850481,
"confidence": 0.27616132626441153 "confidence": 0.27616132626441153
}, },
{ {
@@ -400,10 +401,10 @@
739.0 739.0
], ],
"projected_center_px": [ "projected_center_px": [
372.768798828125, 372.5487060546875,
739.0264892578125 739.277099609375
], ],
"reprojection_error_px": 0.2701008900037732, "reprojection_error_px": 0.2813476022272081,
"confidence": 0.20880323274886187 "confidence": 0.20880323274886187
}, },
{ {
@@ -413,10 +414,10 @@
747.75 747.75
], ],
"projected_center_px": [ "projected_center_px": [
776.2626953125, 776.3152465820312,
748.190185546875 747.5684814453125
], ],
"reprojection_error_px": 0.6566804200957385, "reprojection_error_px": 0.4711258007489609,
"confidence": 0.29755353766049797 "confidence": 0.29755353766049797
}, },
{ {
@@ -426,10 +427,10 @@
760.5 760.5
], ],
"projected_center_px": [ "projected_center_px": [
830.81494140625, 830.9098510742188,
761.0070190429688 760.2950439453125
], ],
"reprojection_error_px": 0.5111611254572033, "reprojection_error_px": 0.25992181570994344,
"confidence": 0.3575017044994602 "confidence": 0.3575017044994602
}, },
{ {
@@ -439,10 +440,10 @@
660.75 660.75
], ],
"projected_center_px": [ "projected_center_px": [
874.7191772460938, 874.7962646484375,
655.8153076171875 660.6692504882812
], ],
"reprojection_error_px": 4.96316045570283, "reprojection_error_px": 0.46086467959734345,
"confidence": 0.25451422792961226 "confidence": 0.25451422792961226
}, },
{ {
@@ -452,10 +453,10 @@
736.0 736.0
], ],
"projected_center_px": [ "projected_center_px": [
584.594482421875, 584.5050048828125,
736.0264892578125 735.7977294921875
], ],
"reprojection_error_px": 0.1577574019985198, "reprojection_error_px": 0.3177042111405568,
"confidence": 0.2684612168157516 "confidence": 0.2684612168157516
}, },
{ {
@@ -465,10 +466,10 @@
635.25 635.25
], ],
"projected_center_px": [ "projected_center_px": [
965.7646484375, 965.97509765625,
631.0142822265625 635.3180541992188
], ],
"reprojection_error_px": 4.235743102802096, "reprojection_error_px": 0.2351602195962329,
"confidence": 0.25649381160383095 "confidence": 0.25649381160383095
}, },
{ {
@@ -478,10 +479,10 @@
711.0 711.0
], ],
"projected_center_px": [ "projected_center_px": [
749.4674072265625, 749.4218139648438,
711.4022216796875 710.7310791015625
], ],
"reprojection_error_px": 0.40354004570919855, "reprojection_error_px": 0.2800562545452012,
"confidence": 0.25694325940045776 "confidence": 0.25694325940045776
}, },
{ {
@@ -491,10 +492,10 @@
696.25 696.25
], ],
"projected_center_px": [ "projected_center_px": [
479.74993896484375, 479.38543701171875,
696.450439453125 696.3239135742188
], ],
"reprojection_error_px": 0.32038330249283337, "reprojection_error_px": 0.13633742970189988,
"confidence": 0.1867925968462939 "confidence": 0.1867925968462939
}, },
{ {
@@ -504,10 +505,10 @@
659.0 659.0
], ],
"projected_center_px": [ "projected_center_px": [
1348.9605712890625, 1349.5238037109375,
661.381103515625 659.1944580078125
], ],
"reprojection_error_px": 2.441441640978835, "reprojection_error_px": 0.19590950323249345,
"confidence": 0.21339006924105708 "confidence": 0.21339006924105708
}, },
{ {
@@ -517,24 +518,24 @@
647.25 647.25
], ],
"projected_center_px": [ "projected_center_px": [
1275.197265625, 1275.7164306640625,
649.7846069335938 647.7095947265625
], ],
"reprojection_error_px": 2.594175706679899, "reprojection_error_px": 0.4608190675301358,
"confidence": 0.19315867427385117 "confidence": 0.19315867427385117
}, },
{ {
"marker_id": 51, "marker_id": 51,
"observed_center_px": [ "observed_center_px": [
595.0, 595.25,
656.0 656.25
], ],
"projected_center_px": [ "projected_center_px": [
595.6368408203125, 595.24169921875,
656.72802734375 656.181884765625
], ],
"reprojection_error_px": 0.9672590364860794, "reprojection_error_px": 0.06861915274412482,
"confidence": 0.19459516753849398 "confidence": 0.16801302183475722
}, },
{ {
"marker_id": 86, "marker_id": 86,
@@ -543,10 +544,10 @@
594.75 594.75
], ],
"projected_center_px": [ "projected_center_px": [
1267.0711669921875, 1267.740478515625,
597.0910034179688 594.7666625976562
], ],
"reprojection_error_px": 2.5185368290623398, "reprojection_error_px": 0.26005584595016784,
"confidence": 0.15168122070263937 "confidence": 0.15168122070263937
}, },
{ {
@@ -556,10 +557,10 @@
638.0 638.0
], ],
"projected_center_px": [ "projected_center_px": [
524.240478515625, 523.653564453125,
638.552978515625 638.0784301757812
], ],
"reprojection_error_px": 1.1343865869524075, "reprojection_error_px": 0.411115020765671,
"confidence": 0.14764046114843485 "confidence": 0.14764046114843485
}, },
{ {
@@ -569,10 +570,10 @@
599.75 599.75
], ],
"projected_center_px": [ "projected_center_px": [
859.8064575195312, 859.7811279296875,
595.6392211914062 599.6598510742188
], ],
"reprojection_error_px": 4.134638115381299, "reprojection_error_px": 0.4774597858863543,
"confidence": 0.1777947575100624 "confidence": 0.1777947575100624
}, },
{ {
@@ -582,10 +583,10 @@
630.0 630.0
], ],
"projected_center_px": [ "projected_center_px": [
332.58477783203125, 331.60821533203125,
630.2366943359375 630.14208984375
], ],
"reprojection_error_px": 1.6023560732754012, "reprojection_error_px": 0.624592198009856,
"confidence": 0.12893578900789202 "confidence": 0.12893578900789202
}, },
{ {
@@ -595,10 +596,10 @@
617.75 617.75
], ],
"projected_center_px": [ "projected_center_px": [
1290.723388671875, 1291.3590087890625,
620.1088256835938 617.8563842773438
], ],
"reprojection_error_px": 2.358975787999126, "reprojection_error_px": 0.6182307980207105,
"confidence": 0.17268436709798 "confidence": 0.17268436709798
}, },
{ {
@@ -608,10 +609,10 @@
627.0 627.0
], ],
"projected_center_px": [ "projected_center_px": [
443.32464599609375, 442.5379638671875,
627.5563354492188 627.2044067382812
], ],
"reprojection_error_px": 1.210112866214452, "reprojection_error_px": 0.3531363808224233,
"confidence": 0.1295478737351265 "confidence": 0.1295478737351265
}, },
{ {
@@ -621,11 +622,24 @@
552.75 552.75
], ],
"projected_center_px": [ "projected_center_px": [
1119.0528564453125, 1119.5179443359375,
554.3885498046875 552.1281127929688
], ],
"reprojection_error_px": 1.6984648424209485, "reprojection_error_px": 0.6221460419076591,
"confidence": 0.1339849287785323 "confidence": 0.1339849287785323
},
{
"marker_id": 52,
"observed_center_px": [
928.0,
538.25
],
"projected_center_px": [
927.35107421875,
538.2993774414062
],
"reprojection_error_px": 0.6508016604855511,
"confidence": 0.11177517166638828
} }
] ]
}, },

272
data/evaluations/Scene9a/render_f_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:25:58Z", "created_utc": "2026-06-01T19:27:35Z",
"vision_config": { "vision_config": {
"MarkerType": "DICT_4X4_250", "MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025 "MarkerSize": 0.025
@@ -16,7 +16,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -35,7 +35,7 @@
}, },
"image": { "image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_f.png", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_f.png",
"image_sha256": "55f6f6af948eeb4d4fbe3ca325eec8caeb373f4d3e0baa7c4ac882bd5044386d", "image_sha256": "06cc3c166fcfc91ece13cd9eb07174d6ff6bf2257d8764e9515daff68afa4770",
"width_px": 1440, "width_px": 1440,
"height_px": 1080 "height_px": 1080
}, },
@@ -46,7 +46,7 @@
}, },
"detections": [ "detections": [
{ {
"observation_id": "91ae1028-7d45-4719-b34c-84c4fead9776", "observation_id": "6b4a5a52-5db5-4b16-899c-2e0da76bafc6",
"type": "aruco", "type": "aruco",
"marker_id": 43, "marker_id": 43,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -76,14 +76,14 @@
"area_px": 1730.5, "area_px": 1730.5,
"perimeter_px": 166.8275375366211, "perimeter_px": 166.8275375366211,
"sharpness": { "sharpness": {
"laplacian_var": 2886.645426086957 "laplacian_var": 2886.2489043478263
}, },
"contrast": { "contrast": {
"p05": 73.0, "p05": 73.0,
"p95": 192.0, "p95": 192.0,
"dynamic_range": 119.0, "dynamic_range": 119.0,
"mean_gray": 117.81565217391304, "mean_gray": 117.81565217391304,
"std_gray": 51.08471155844429 "std_gray": 51.08277101078099
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2834777534008026, "distance_to_center_norm": 0.2834777534008026,
@@ -100,7 +100,7 @@
"confidence": 0.9294378116815584 "confidence": 0.9294378116815584
}, },
{ {
"observation_id": "2114f9bc-9c9b-40b0-9731-a9cebc17b348", "observation_id": "69ba122d-a1e2-4840-8b38-5257ccb61cbd",
"type": "aruco", "type": "aruco",
"marker_id": 41, "marker_id": 41,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -130,14 +130,14 @@
"area_px": 1098.0, "area_px": 1098.0,
"perimeter_px": 138.78336715698242, "perimeter_px": 138.78336715698242,
"sharpness": { "sharpness": {
"laplacian_var": 1206.9237378808864 "laplacian_var": 1207.1401229224375
}, },
"contrast": { "contrast": {
"p05": 17.0, "p05": 17.0,
"p95": 135.0, "p95": 135.0,
"dynamic_range": 118.0, "dynamic_range": 118.0,
"mean_gray": 50.98684210526316, "mean_gray": 50.98947368421052,
"std_gray": 41.397270893092966 "std_gray": 41.395428106785474
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.20413795113563538, "distance_to_center_norm": 0.20413795113563538,
@@ -154,7 +154,7 @@
"confidence": 0.38878860122100567 "confidence": 0.38878860122100567
}, },
{ {
"observation_id": "323f3db0-43e8-43f6-9890-b61f31cfddad", "observation_id": "98a41ef3-70b2-4cd3-9ea5-d35594d2b626",
"type": "aruco", "type": "aruco",
"marker_id": 68, "marker_id": 68,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -184,14 +184,14 @@
"area_px": 1197.0, "area_px": 1197.0,
"perimeter_px": 138.6582908630371, "perimeter_px": 138.6582908630371,
"sharpness": { "sharpness": {
"laplacian_var": 2131.919923788056 "laplacian_var": 2131.2093010774333
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 153.0, "p95": 153.0,
"dynamic_range": 144.0, "dynamic_range": 144.0,
"mean_gray": 59.1990231990232, "mean_gray": 59.2002442002442,
"std_gray": 61.03733479078275 "std_gray": 61.036360587257164
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.8682592511177063, "distance_to_center_norm": 0.8682592511177063,
@@ -208,7 +208,7 @@
"confidence": 0.38560830398820567 "confidence": 0.38560830398820567
}, },
{ {
"observation_id": "36496336-3483-489a-9cfa-d5ead97eca61", "observation_id": "198c9f1d-e0d4-4046-855b-f241fd620fdc",
"type": "aruco", "type": "aruco",
"marker_id": 62, "marker_id": 62,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -238,14 +238,14 @@
"area_px": 1177.0, "area_px": 1177.0,
"perimeter_px": 137.2458038330078, "perimeter_px": 137.2458038330078,
"sharpness": { "sharpness": {
"laplacian_var": 1708.0075733418366 "laplacian_var": 1706.7218346522284
}, },
"contrast": { "contrast": {
"p05": 24.0, "p05": 24.0,
"p95": 173.0, "p95": 173.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 48.704081632653065, "mean_gray": 48.692602040816325,
"std_gray": 49.87197061203848 "std_gray": 49.851781807191536
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.38981515169143677, "distance_to_center_norm": 0.38981515169143677,
@@ -262,7 +262,7 @@
"confidence": 0.7633000221267091 "confidence": 0.7633000221267091
}, },
{ {
"observation_id": "cc38058d-5711-4cc6-aae5-3791e9ed4801", "observation_id": "3634e0ca-ba30-460f-a221-ce719d8f77f1",
"type": "aruco", "type": "aruco",
"marker_id": 46, "marker_id": 46,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
"confidence": 0.41353385692040123 "confidence": 0.41353385692040123
}, },
{ {
"observation_id": "fb012146-7490-4bde-8d64-38186cf7dadb", "observation_id": "1e8204ac-4fbd-4569-8b65-1497902686a4",
"type": "aruco", "type": "aruco",
"marker_id": 208, "marker_id": 208,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -346,14 +346,14 @@
"area_px": 1166.5, "area_px": 1166.5,
"perimeter_px": 136.6367645263672, "perimeter_px": 136.6367645263672,
"sharpness": { "sharpness": {
"laplacian_var": 1733.2233189111232 "laplacian_var": 1729.4743588459564
}, },
"contrast": { "contrast": {
"p05": 11.0, "p05": 11.0,
"p95": 146.0, "p95": 146.0,
"dynamic_range": 135.0, "dynamic_range": 135.0,
"mean_gray": 58.622739018087856, "mean_gray": 58.587855297157624,
"std_gray": 56.41938567404187 "std_gray": 56.412191099996946
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.33529940247535706, "distance_to_center_norm": 0.33529940247535706,
@@ -370,7 +370,7 @@
"confidence": 0.7564906336540409 "confidence": 0.7564906336540409
}, },
{ {
"observation_id": "395f9efc-2255-4269-979f-7033fcfe2701", "observation_id": "79aca037-d2fb-40e4-96a7-54fb09f459d4",
"type": "aruco", "type": "aruco",
"marker_id": 229, "marker_id": 229,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -400,14 +400,14 @@
"area_px": 1155.5, "area_px": 1155.5,
"perimeter_px": 136.04645919799805, "perimeter_px": 136.04645919799805,
"sharpness": { "sharpness": {
"laplacian_var": 2323.1060244199707 "laplacian_var": 2322.9506484058006
}, },
"contrast": { "contrast": {
"p05": 33.0, "p05": 33.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 80.69361147327248, "mean_gray": 80.69100391134289,
"std_gray": 63.847265178630614 "std_gray": 63.84233112686166
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.08000240474939346, "distance_to_center_norm": 0.08000240474939346,
@@ -424,7 +424,7 @@
"confidence": 0.7090826466513346 "confidence": 0.7090826466513346
}, },
{ {
"observation_id": "11de7b3e-c5c2-4d2b-93cb-cfb1a0c2a006", "observation_id": "b1d49e9f-74bf-4589-94e5-eea809905243",
"type": "aruco", "type": "aruco",
"marker_id": 53, "marker_id": 53,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -454,14 +454,14 @@
"area_px": 1143.0, "area_px": 1143.0,
"perimeter_px": 135.56743240356445, "perimeter_px": 135.56743240356445,
"sharpness": { "sharpness": {
"laplacian_var": 2298.8328666893153 "laplacian_var": 2298.902724386599
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 158.0, "p95": 158.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 88.21345407503235, "mean_gray": 88.21474773609314,
"std_gray": 65.45084742233843 "std_gray": 65.45010198444808
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.805581271648407, "distance_to_center_norm": 0.805581271648407,
@@ -478,7 +478,7 @@
"confidence": 0.3126694345835915 "confidence": 0.3126694345835915
}, },
{ {
"observation_id": "f2813b30-2138-4d50-8ef0-b6c9471c8cb7", "observation_id": "b335e010-8ca8-4404-bc72-b29c3666390b",
"type": "aruco", "type": "aruco",
"marker_id": 54, "marker_id": 54,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -508,14 +508,14 @@
"area_px": 1145.0, "area_px": 1145.0,
"perimeter_px": 135.37194442749023, "perimeter_px": 135.37194442749023,
"sharpness": { "sharpness": {
"laplacian_var": 1859.3024610460889 "laplacian_var": 1866.7978375322184
}, },
"contrast": { "contrast": {
"p05": 35.0, "p05": 35.0,
"p95": 178.0, "p95": 177.0,
"dynamic_range": 143.0, "dynamic_range": 142.0,
"mean_gray": 66.01321003963012, "mean_gray": 65.97622192866578,
"std_gray": 53.47014707914372 "std_gray": 53.4360884688585
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3701568841934204, "distance_to_center_norm": 0.3701568841934204,
@@ -532,7 +532,7 @@
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
"observation_id": "9a7b3b70-c0a2-45c9-8527-752787f12ccf", "observation_id": "ed0302ac-9f80-4c6b-a363-cc40e884edd0",
"type": "aruco", "type": "aruco",
"marker_id": 47, "marker_id": 47,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -562,14 +562,14 @@
"area_px": 1145.0, "area_px": 1145.0,
"perimeter_px": 135.37194442749023, "perimeter_px": 135.37194442749023,
"sharpness": { "sharpness": {
"laplacian_var": 2380.8075679392164 "laplacian_var": 2375.85695813098
}, },
"contrast": { "contrast": {
"p05": 32.0, "p05": 32.0,
"p95": 178.0, "p95": 178.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 85.10303830911492, "mean_gray": 85.06605019815059,
"std_gray": 63.099510043923544 "std_gray": 63.07786697278466
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.33474618196487427, "distance_to_center_norm": 0.33474618196487427,
@@ -586,7 +586,7 @@
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
"observation_id": "dd5e62cf-103d-4ce7-9fdc-25bf72487693", "observation_id": "f93339a5-5794-4e79-ae95-d70c893ffaee",
"type": "aruco", "type": "aruco",
"marker_id": 96, "marker_id": 96,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -616,14 +616,14 @@
"area_px": 1145.0, "area_px": 1145.0,
"perimeter_px": 135.37194442749023, "perimeter_px": 135.37194442749023,
"sharpness": { "sharpness": {
"laplacian_var": 2001.9512327916113 "laplacian_var": 2001.2378906515848
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 175.0, "p95": 175.0,
"dynamic_range": 149.0, "dynamic_range": 149.0,
"mean_gray": 93.06076618229855, "mean_gray": 93.05680317040951,
"std_gray": 67.79566787221668 "std_gray": 67.78839324108726
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3342423737049103, "distance_to_center_norm": 0.3342423737049103,
@@ -640,7 +640,7 @@
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
"observation_id": "8dfdc910-78b6-40b6-ad0d-1fa4ebe32f34", "observation_id": "be2a0537-753e-496c-9a65-933a8c3e667f",
"type": "aruco", "type": "aruco",
"marker_id": 56, "marker_id": 56,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -670,14 +670,14 @@
"area_px": 1135.0, "area_px": 1135.0,
"perimeter_px": 134.86720275878906, "perimeter_px": 134.86720275878906,
"sharpness": { "sharpness": {
"laplacian_var": 1920.3729727518764 "laplacian_var": 1920.6079596970462
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 156.0, "p95": 156.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 48.092689295039165, "mean_gray": 48.088772845953,
"std_gray": 57.530425813948845 "std_gray": 57.52917256840498
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7715434432029724, "distance_to_center_norm": 0.7715434432029724,
@@ -694,7 +694,7 @@
"confidence": 0.7206062047849244 "confidence": 0.7206062047849244
}, },
{ {
"observation_id": "56887f7c-eaf2-4312-9d8d-2b25e0dd25b4", "observation_id": "5f992dfd-5985-4edb-9baf-abdda22df081",
"type": "aruco", "type": "aruco",
"marker_id": 97, "marker_id": 97,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -724,14 +724,14 @@
"area_px": 1124.0, "area_px": 1124.0,
"perimeter_px": 134.10443115234375, "perimeter_px": 134.10443115234375,
"sharpness": { "sharpness": {
"laplacian_var": 2166.3218024105186 "laplacian_var": 2159.4993425858293
}, },
"contrast": { "contrast": {
"p05": 39.0, "p05": 39.0,
"p95": 180.0, "p95": 180.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 110.7918918918919, "mean_gray": 110.7581081081081,
"std_gray": 63.98815295070148 "std_gray": 63.95242849129545
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3584345281124115, "distance_to_center_norm": 0.3584345281124115,
@@ -748,7 +748,7 @@
"confidence": 0.7493333333333333 "confidence": 0.7493333333333333
}, },
{ {
"observation_id": "e4d634c7-c2dc-4378-a90a-06ba7e8b6cd1", "observation_id": "4887ef2a-5e40-445b-acce-7dcf8a182cb9",
"type": "aruco", "type": "aruco",
"marker_id": 55, "marker_id": 55,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -758,7 +758,7 @@
735.0 735.0
], ],
[ [
684.0, 685.0,
725.0 725.0
], ],
[ [
@@ -771,38 +771,38 @@
] ]
], ],
"center_px": [ "center_px": [
673.75, 674.0,
745.75 745.75
], ],
"quality": { "quality": {
"area_px": 1102.5, "area_px": 1113.0,
"perimeter_px": 132.83071899414062, "perimeter_px": 133.4630584716797,
"sharpness": { "sharpness": {
"laplacian_var": 2512.255782408962 "laplacian_var": 2464.9031871712195
}, },
"contrast": { "contrast": {
"p05": 34.0, "p05": 34.0,
"p95": 179.0, "p95": 179.0,
"dynamic_range": 145.0, "dynamic_range": 145.0,
"mean_gray": 94.70441988950276, "mean_gray": 93.97400820793433,
"std_gray": 64.88164688115998 "std_gray": 64.80665241473103
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.23431572318077087, "distance_to_center_norm": 0.23425497114658356,
"distance_to_border_px": 313.0 "distance_to_border_px": 313.0
}, },
"edge_ratio": 1.0388313835116465, "edge_ratio": 1.0388313835116465,
"edge_lengths_px": [ "edge_lengths_px": [
33.52610778808594,
32.572994232177734, 32.572994232177734,
32.893768310546875,
33.83784866333008, 33.83784866333008,
33.52610778808594 33.52610778808594
] ]
}, },
"confidence": 0.7075257945282896 "confidence": 0.714264135428559
}, },
{ {
"observation_id": "537fc59f-2896-49e2-934c-d0688102ac2b", "observation_id": "3cde571e-4ca5-45bb-8d01-1352b219a463",
"type": "aruco", "type": "aruco",
"marker_id": 72, "marker_id": 72,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -856,7 +856,7 @@
"confidence": 0.6734789354579702 "confidence": 0.6734789354579702
}, },
{ {
"observation_id": "fde92091-6de8-401c-a21c-4836ea106042", "observation_id": "4da03b4e-bb42-4dbf-8a0d-7b957a40e67a",
"type": "aruco", "type": "aruco",
"marker_id": 79, "marker_id": 79,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -886,14 +886,14 @@
"area_px": 1092.0, "area_px": 1092.0,
"perimeter_px": 132.19837951660156, "perimeter_px": 132.19837951660156,
"sharpness": { "sharpness": {
"laplacian_var": 2937.618149247581 "laplacian_var": 2931.174605476023
}, },
"contrast": { "contrast": {
"p05": 25.0, "p05": 25.0,
"p95": 175.0, "p95": 175.0,
"dynamic_range": 150.0, "dynamic_range": 150.0,
"mean_gray": 102.5621546961326, "mean_gray": 102.4171270718232,
"std_gray": 64.88670750490348 "std_gray": 64.8874293772977
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.24774056673049927, "distance_to_center_norm": 0.24774056673049927,
@@ -910,7 +910,7 @@
"confidence": 0.7007874536280202 "confidence": 0.7007874536280202
}, },
{ {
"observation_id": "3e388a1c-49e9-406b-a77f-5dc978606bf9", "observation_id": "3e0ddb5a-a415-4704-ac8c-3f8c2cd12479",
"type": "aruco", "type": "aruco",
"marker_id": 84, "marker_id": 84,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -940,14 +940,14 @@
"area_px": 1080.5, "area_px": 1080.5,
"perimeter_px": 131.82594299316406, "perimeter_px": 131.82594299316406,
"sharpness": { "sharpness": {
"laplacian_var": 2656.5855867435025 "laplacian_var": 2656.59389699281
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 157.0, "p95": 157.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 77.29916897506925, "mean_gray": 77.297783933518,
"std_gray": 64.21202952836408 "std_gray": 64.21206832115548
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7832157611846924, "distance_to_center_norm": 0.7832157611846924,
@@ -964,7 +964,7 @@
"confidence": 0.09375509355389204 "confidence": 0.09375509355389204
}, },
{ {
"observation_id": "7faa1d1b-6b0c-4b09-bf02-666a889c2451", "observation_id": "5e2b2bf8-f164-41f0-ae79-cf273caf2188",
"type": "aruco", "type": "aruco",
"marker_id": 66, "marker_id": 66,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -994,14 +994,14 @@
"area_px": 1061.5, "area_px": 1061.5,
"perimeter_px": 130.36859130859375, "perimeter_px": 130.36859130859375,
"sharpness": { "sharpness": {
"laplacian_var": 2143.3186782408284 "laplacian_var": 2140.7000954288196
}, },
"contrast": { "contrast": {
"p05": 43.0, "p05": 43.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 139.0, "dynamic_range": 139.0,
"mean_gray": 87.2871287128713, "mean_gray": 87.23903818953323,
"std_gray": 58.93501698939873 "std_gray": 58.89408183245764
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.2889803349971771, "distance_to_center_norm": 0.2889803349971771,
@@ -1018,7 +1018,7 @@
"confidence": 0.6611197014534322 "confidence": 0.6611197014534322
}, },
{ {
"observation_id": "c1a209c7-5173-4169-b310-1b60962fc171", "observation_id": "e19b25d8-9470-485e-9bfe-ce1808dc37af",
"type": "aruco", "type": "aruco",
"marker_id": 95, "marker_id": 95,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1048,14 +1048,14 @@
"area_px": 1040.0, "area_px": 1040.0,
"perimeter_px": 129.04279708862305, "perimeter_px": 129.04279708862305,
"sharpness": { "sharpness": {
"laplacian_var": 2119.5831417640247 "laplacian_var": 2114.151082503428
}, },
"contrast": { "contrast": {
"p05": 38.0, "p05": 38.0,
"p95": 182.0, "p95": 181.0,
"dynamic_range": 144.0, "dynamic_range": 143.0,
"mean_gray": 97.20916905444126, "mean_gray": 97.0974212034384,
"std_gray": 64.18614875837885 "std_gray": 64.1065259514784
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.14746232330799103, "distance_to_center_norm": 0.14746232330799103,
@@ -1072,7 +1072,7 @@
"confidence": 0.6477291469727456 "confidence": 0.6477291469727456
}, },
{ {
"observation_id": "e158175f-f170-4865-9cb3-b62b5d56f5a3", "observation_id": "2615fa71-7a9f-4659-8adc-cbe361192331",
"type": "aruco", "type": "aruco",
"marker_id": 42, "marker_id": 42,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1102,14 +1102,14 @@
"area_px": 710.5, "area_px": 710.5,
"perimeter_px": 128.54348373413086, "perimeter_px": 128.54348373413086,
"sharpness": { "sharpness": {
"laplacian_var": 3025.8899834450654 "laplacian_var": 3023.838253372453
}, },
"contrast": { "contrast": {
"p05": 34.0, "p05": 34.0,
"p95": 190.0, "p95": 190.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 88.2834008097166, "mean_gray": 88.29352226720648,
"std_gray": 65.55416717325163 "std_gray": 65.55395279668302
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.27589988708496094, "distance_to_center_norm": 0.27589988708496094,
@@ -1126,7 +1126,7 @@
"confidence": 0.36736891104213226 "confidence": 0.36736891104213226
}, },
{ {
"observation_id": "4720c67a-d8ab-4769-9309-68c42f0c3a01", "observation_id": "b3c8e039-7f72-4be5-a929-74693586b420",
"type": "aruco", "type": "aruco",
"marker_id": 103, "marker_id": 103,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1156,14 +1156,14 @@
"area_px": 980.0, "area_px": 980.0,
"perimeter_px": 125.24219512939453, "perimeter_px": 125.24219512939453,
"sharpness": { "sharpness": {
"laplacian_var": 2255.2827197448605 "laplacian_var": 2251.26074894517
}, },
"contrast": { "contrast": {
"p05": 34.0, "p05": 34.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 119.84179970972424, "mean_gray": 119.8345428156749,
"std_gray": 65.7599292603454 "std_gray": 65.75213095799003
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.06435877829790115, "distance_to_center_norm": 0.06435877829790115,
@@ -1180,7 +1180,7 @@
"confidence": 0.6337670359070791 "confidence": 0.6337670359070791
}, },
{ {
"observation_id": "4f6452fb-5fd1-47fb-85a5-6dab10c791b3", "observation_id": "92e8c044-3151-4e5d-9bdd-3a8e7562b33c",
"type": "aruco", "type": "aruco",
"marker_id": 73, "marker_id": 73,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1210,14 +1210,14 @@
"area_px": 971.0, "area_px": 971.0,
"perimeter_px": 124.91244125366211, "perimeter_px": 124.91244125366211,
"sharpness": { "sharpness": {
"laplacian_var": 2684.0798926737816 "laplacian_var": 2683.8767124465735
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 160.0, "p95": 160.0,
"dynamic_range": 150.0, "dynamic_range": 150.0,
"mean_gray": 83.87243401759531, "mean_gray": 83.87096774193549,
"std_gray": 64.16046943685093 "std_gray": 64.16212334457147
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7720921039581299, "distance_to_center_norm": 0.7720921039581299,
@@ -1234,7 +1234,7 @@
"confidence": 0.18744910383322472 "confidence": 0.18744910383322472
}, },
{ {
"observation_id": "1c73f287-82df-4a3f-9e66-1c07c292929a", "observation_id": "7d31b024-94ff-4f80-920b-57e470044813",
"type": "aruco", "type": "aruco",
"marker_id": 82, "marker_id": 82,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1264,14 +1264,14 @@
"area_px": 968.0, "area_px": 968.0,
"perimeter_px": 124.85057830810547, "perimeter_px": 124.85057830810547,
"sharpness": { "sharpness": {
"laplacian_var": 1801.3974596459932 "laplacian_var": 1801.4457056183198
}, },
"contrast": { "contrast": {
"p05": 10.0, "p05": 10.0,
"p95": 157.0, "p95": 157.0,
"dynamic_range": 147.0, "dynamic_range": 147.0,
"mean_gray": 74.1812778603269, "mean_gray": 74.17830609212481,
"std_gray": 64.88730525694709 "std_gray": 64.88690129972883
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.7198113799095154, "distance_to_center_norm": 0.7198113799095154,
@@ -1288,7 +1288,7 @@
"confidence": 0.6165792028347551 "confidence": 0.6165792028347551
}, },
{ {
"observation_id": "c8c5f33d-692e-4a1d-9b91-5c8ebe551094", "observation_id": "1aaa27f6-13b5-434e-8c59-0cd35d82db6a",
"type": "aruco", "type": "aruco",
"marker_id": 210, "marker_id": 210,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1318,14 +1318,14 @@
"area_px": 969.0, "area_px": 969.0,
"perimeter_px": 124.65106391906738, "perimeter_px": 124.65106391906738,
"sharpness": { "sharpness": {
"laplacian_var": 2811.658387959261 "laplacian_var": 2809.108610841876
}, },
"contrast": { "contrast": {
"p05": 26.0, "p05": 26.0,
"p95": 182.0, "p95": 182.0,
"dynamic_range": 156.0, "dynamic_range": 156.0,
"mean_gray": 81.82317979197623, "mean_gray": 81.80980683506687,
"std_gray": 66.69635746167582 "std_gray": 66.70118830990774
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.3118208944797516, "distance_to_center_norm": 0.3118208944797516,
@@ -1342,7 +1342,7 @@
"confidence": 0.5950107118694543 "confidence": 0.5950107118694543
}, },
{ {
"observation_id": "e7e440cb-7b0b-4874-b491-1fcfbc461772", "observation_id": "6c0b7798-dc2d-4273-a64d-2c07ea0d4efe",
"type": "aruco", "type": "aruco",
"marker_id": 58, "marker_id": 58,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1372,14 +1372,14 @@
"area_px": 970.0, "area_px": 970.0,
"perimeter_px": 124.59700012207031, "perimeter_px": 124.59700012207031,
"sharpness": { "sharpness": {
"laplacian_var": 2298.360662368001 "laplacian_var": 2298.650938129975
}, },
"contrast": { "contrast": {
"p05": 37.0, "p05": 37.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 146.0, "dynamic_range": 146.0,
"mean_gray": 88.85195936139333, "mean_gray": 88.85050798258345,
"std_gray": 62.47325000676399 "std_gray": 62.47676610032273
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.15366007387638092, "distance_to_center_norm": 0.15366007387638092,
@@ -1396,7 +1396,7 @@
"confidence": 0.6273000253365986 "confidence": 0.6273000253365986
}, },
{ {
"observation_id": "a4cc8855-cbd1-40d9-a2ba-2357fc7f88dc", "observation_id": "822382cd-c0a7-4e4d-a3be-8f26574cc8ce",
"type": "aruco", "type": "aruco",
"marker_id": 69, "marker_id": 69,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1426,14 +1426,14 @@
"area_px": 940.5, "area_px": 940.5,
"perimeter_px": 122.71903038024902, "perimeter_px": 122.71903038024902,
"sharpness": { "sharpness": {
"laplacian_var": 2243.3041116819636 "laplacian_var": 2242.9076168671027
}, },
"contrast": { "contrast": {
"p05": 43.0, "p05": 43.0,
"p95": 184.0, "p95": 184.0,
"dynamic_range": 141.0, "dynamic_range": 141.0,
"mean_gray": 94.28826151560179, "mean_gray": 94.29123328380386,
"std_gray": 60.323891477675424 "std_gray": 60.32658663796894
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.25320005416870117, "distance_to_center_norm": 0.25320005416870117,
@@ -1450,7 +1450,7 @@
"confidence": 0.5831437313149622 "confidence": 0.5831437313149622
}, },
{ {
"observation_id": "da42aac0-fc92-4681-b0f6-c02173e6c9e2", "observation_id": "1d25dae9-1d3d-49c1-9c45-78c8e67c5a29",
"type": "aruco", "type": "aruco",
"marker_id": 64, "marker_id": 64,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1480,14 +1480,14 @@
"area_px": 940.0, "area_px": 940.0,
"perimeter_px": 122.7098274230957, "perimeter_px": 122.7098274230957,
"sharpness": { "sharpness": {
"laplacian_var": 2098.266291823922 "laplacian_var": 2098.7964123058496
}, },
"contrast": { "contrast": {
"p05": 35.0, "p05": 35.0,
"p95": 183.0, "p95": 183.0,
"dynamic_range": 148.0, "dynamic_range": 148.0,
"mean_gray": 87.79969879518072, "mean_gray": 87.79969879518072,
"std_gray": 63.287524703070865 "std_gray": 63.288571742158055
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.24370849132537842, "distance_to_center_norm": 0.24370849132537842,
@@ -1504,7 +1504,7 @@
"confidence": 0.5891999992118755 "confidence": 0.5891999992118755
}, },
{ {
"observation_id": "51a20e6e-565e-430c-930c-135352a13db5", "observation_id": "3f66daa2-6c3f-48c1-913a-2f79b076d4f9",
"type": "aruco", "type": "aruco",
"marker_id": 52, "marker_id": 52,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1534,14 +1534,14 @@
"area_px": 929.5, "area_px": 929.5,
"perimeter_px": 122.23168182373047, "perimeter_px": 122.23168182373047,
"sharpness": { "sharpness": {
"laplacian_var": 1533.500111930346 "laplacian_var": 1533.0433218068893
}, },
"contrast": { "contrast": {
"p05": 9.0, "p05": 9.0,
"p95": 145.0, "p95": 145.0,
"dynamic_range": 136.0, "dynamic_range": 136.0,
"mean_gray": 55.46604938271605, "mean_gray": 55.46296296296296,
"std_gray": 55.69209960547992 "std_gray": 55.691709701646396
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5749818086624146, "distance_to_center_norm": 0.5749818086624146,
@@ -1558,7 +1558,7 @@
"confidence": 0.5951794442486946 "confidence": 0.5951794442486946
}, },
{ {
"observation_id": "1d4b3b7c-65b4-4332-b10d-6554c6b38f4c", "observation_id": "f074aa2f-cfa1-4663-9c42-4ba03f45f041",
"type": "aruco", "type": "aruco",
"marker_id": 101, "marker_id": 101,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
"confidence": 0.6113473409254715 "confidence": 0.6113473409254715
}, },
{ {
"observation_id": "30fab4e8-e979-4bde-8d8b-9afc300a5490", "observation_id": "2bf452c6-ffd4-4681-bfb3-e41ce7772ac9",
"type": "aruco", "type": "aruco",
"marker_id": 211, "marker_id": 211,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1642,14 +1642,14 @@
"area_px": 917.5, "area_px": 917.5,
"perimeter_px": 121.51190567016602, "perimeter_px": 121.51190567016602,
"sharpness": { "sharpness": {
"laplacian_var": 1728.7030015990033 "laplacian_var": 1725.267987568177
}, },
"contrast": { "contrast": {
"p05": 12.0, "p05": 12.0,
"p95": 137.0, "p95": 137.0,
"dynamic_range": 125.0, "dynamic_range": 125.0,
"mean_gray": 64.87363494539781, "mean_gray": 64.86583463338533,
"std_gray": 55.54805321485478 "std_gray": 55.547009813187806
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.30519095063209534, "distance_to_center_norm": 0.30519095063209534,
@@ -1666,7 +1666,7 @@
"confidence": 0.5125834290597466 "confidence": 0.5125834290597466
}, },
{ {
"observation_id": "af045436-7246-4712-9eff-90f07d4988aa", "observation_id": "2737da95-8555-4723-9a9d-e53a799ddd78",
"type": "aruco", "type": "aruco",
"marker_id": 81, "marker_id": 81,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1696,14 +1696,14 @@
"area_px": 902.0, "area_px": 902.0,
"perimeter_px": 120.27815437316895, "perimeter_px": 120.27815437316895,
"sharpness": { "sharpness": {
"laplacian_var": 450.48389648437495 "laplacian_var": 450.60889648437495
}, },
"contrast": { "contrast": {
"p05": 3.0, "p05": 3.0,
"p95": 78.0, "p95": 78.0,
"dynamic_range": 75.0, "dynamic_range": 75.0,
"mean_gray": 28.7, "mean_gray": 28.7015625,
"std_gray": 31.21233730434169 "std_gray": 31.21132603012236
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5176801085472107, "distance_to_center_norm": 0.5176801085472107,
@@ -1720,7 +1720,7 @@
"confidence": 0.5357981489703919 "confidence": 0.5357981489703919
}, },
{ {
"observation_id": "f943f3bf-2854-449f-b8ba-bef960472116", "observation_id": "07a33987-040f-458a-be0c-d11b4794819e",
"type": "aruco", "type": "aruco",
"marker_id": 83, "marker_id": 83,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
"confidence": 0.5695343676313864 "confidence": 0.5695343676313864
}, },
{ {
"observation_id": "3737212f-2b84-4418-9e7f-f68b0bfe8785", "observation_id": "c338dc1d-4b6d-4220-b949-e52ea6486562",
"type": "aruco", "type": "aruco",
"marker_id": 75, "marker_id": 75,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1804,14 +1804,14 @@
"area_px": 855.0, "area_px": 855.0,
"perimeter_px": 117.13128662109375, "perimeter_px": 117.13128662109375,
"sharpness": { "sharpness": {
"laplacian_var": 2844.817883534933 "laplacian_var": 2844.5772331284293
}, },
"contrast": { "contrast": {
"p05": 16.0, "p05": 16.0,
"p95": 174.0, "p95": 174.0,
"dynamic_range": 158.0, "dynamic_range": 158.0,
"mean_gray": 103.88455284552846, "mean_gray": 103.88455284552846,
"std_gray": 66.78699064270673 "std_gray": 66.78616286330055
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.5894507765769958, "distance_to_center_norm": 0.5894507765769958,
@@ -1828,7 +1828,7 @@
"confidence": 0.5650361954096211 "confidence": 0.5650361954096211
}, },
{ {
"observation_id": "d2605435-fb6f-4285-ad1e-086b2a6dd7fb", "observation_id": "62c4991e-66c2-4b00-9d08-15fa4c2f58d1",
"type": "aruco", "type": "aruco",
"marker_id": 61, "marker_id": 61,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1882,7 +1882,7 @@
"confidence": 0.5346582638408491 "confidence": 0.5346582638408491
}, },
{ {
"observation_id": "b43a1992-d65e-4bf3-b830-e7fe1aea689e", "observation_id": "45a84ec1-8540-410d-8552-bf79e200b959",
"type": "aruco", "type": "aruco",
"marker_id": 113, "marker_id": 113,
"marker_size_m": 0.025, "marker_size_m": 0.025,
@@ -1912,14 +1912,14 @@
"area_px": 365.0, "area_px": 365.0,
"perimeter_px": 101.0387716293335, "perimeter_px": 101.0387716293335,
"sharpness": { "sharpness": {
"laplacian_var": 6260.867232142857 "laplacian_var": 6288.857091836735
}, },
"contrast": { "contrast": {
"p05": 41.0, "p05": 41.0,
"p95": 163.0, "p95": 163.0,
"dynamic_range": 122.0, "dynamic_range": 122.0,
"mean_gray": 73.90357142857142, "mean_gray": 73.87857142857143,
"std_gray": 43.399736521113134 "std_gray": 43.49506833409686
}, },
"geometry": { "geometry": {
"distance_to_center_norm": 0.13205520808696747, "distance_to_center_norm": 0.13205520808696747,

366
data/evaluations/Scene9a/render_f_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:01Z", "created_utc": "2026-06-01T19:27:40Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_f_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -75,158 +75,152 @@
1, 1,
2, 2,
3, 3,
4, 4
5,
6
], ],
"rms": [ "rms": [
0.00950895786721698, 0.007178911650476836,
0.006066580439365948, 0.000354045146243359,
0.003727034263139389, 0.00014385089243573908,
0.003634285780786357, 0.00014382445082642564,
0.003633480375657325, 0.00014382444397958234
0.0036334756261790567,
0.0036334755936052064
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125,
6.25e-05, 6.25e-05
3.125e-05,
1.5625e-05
] ]
}, },
"residual_rms_px": 10.754574368184542, "residual_rms_px": 0.4067922990961128,
"residual_median_px": 8.796893506157586, "residual_median_px": 0.20538164091216965,
"residual_max_px": 21.817437212036854, "residual_max_px": 1.8615383147598865,
"sigma2_normalized": 1.4669049875183183e-05 "sigma2_normalized": 2.2983856317644306e-08
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
0.28190433979034424, 0.31624162197113037,
0.9565085172653198, 0.9486784934997559,
-0.07497631013393402 -0.0005471771000884473
], ],
[ [
0.8421909809112549, 0.9183829426765442,
-0.2841317355632782, -0.30628710985183716,
-0.4582395851612091 -0.25052136182785034
], ],
[ [
-0.45961320400238037, -0.23783183097839355,
0.06603535264730453, 0.0787227675318718,
-0.8856608271598816 -0.9681109189987183
] ]
], ],
"translation_m": [ "translation_m": [
0.13450948894023895, 0.12607352435588837,
-0.19323040544986725, -0.20013318955898285,
1.5851701498031616 1.4977595806121826
], ],
"rvec_rad": [ "rvec_rad": [
2.2275981213726697, 2.3758184185143847,
1.6342883274915534, 1.712240849348196,
-0.4857250395828174 -0.21861212740972794
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
0.8533832430839539, 0.5001441240310669,
-0.28823962807655334, -0.2988092303276062,
1.3254623413085938 1.3999288082122803
], ],
"position_mm": [ "position_mm": [
853.3832397460938, 500.1441345214844,
-288.2396240234375, -298.8092346191406,
1325.46240234375 1399.9288330078125
], ],
"orientation_deg": { "orientation_deg": {
"roll": 175.7358856201172, "roll": 175.35116577148438,
"pitch": 27.362150192260742, "pitch": 13.7586088180542,
"yaw": 71.49319458007812 "yaw": 70.9990463256836
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
0.00011702370596251288, 3.2719781022119764e-07,
6.300214368627549e-05, 1.9193895545526698e-07,
4.80713429978755e-05, -2.251724088710057e-08,
-7.337395612067228e-08, -3.0088028905478637e-09,
-7.295446800392621e-06, 2.2302876975566642e-09,
4.568429696702562e-06 2.1663841873049303e-08
], ],
[ [
6.300214368627585e-05, 1.9193895545526637e-07,
7.142035453386306e-05, 1.696381882702887e-07,
-4.5811850135135434e-07, -5.382985195337842e-08,
5.823779363553129e-06, 5.520920669742606e-09,
-5.5774589093678955e-06, -3.259922024898842e-10,
7.7638787749887e-06 2.196415323574089e-08
], ],
[ [
4.80713429978752e-05, -2.2517240887081376e-08,
-4.581185013517262e-07, -5.382985195336274e-08,
0.0005336750114271742, 1.607788223644323e-06,
-7.751634013807738e-06, 1.1085266737225017e-08,
-1.9616025665947754e-05, -2.2432023872969804e-08,
-6.263874011512612e-05 -2.9084862980132815e-07
], ],
[ [
-7.337395612063673e-08, -3.0088028905476544e-09,
5.823779363553145e-06, 5.520920669742734e-09,
-7.7516340138077e-06, 1.1085266737224417e-08,
2.5846311351761335e-06, 3.501451806164434e-09,
3.0427907717479397e-09, -3.024180856367067e-10,
5.273893183013956e-06 3.5755385844830175e-09
], ],
[ [
-7.295446800392661e-06, 2.230287697556499e-09,
-5.57745890936787e-06, -3.259922024902536e-10,
-1.9616025665947784e-05, -2.2432023872969972e-08,
3.0427907717532043e-09, -3.0241808563674185e-10,
2.2785478417965126e-06, 2.0846190586423267e-09,
2.5764594631384647e-06 5.306073868465641e-09
], ],
[ [
4.568429696702747e-06, 2.1663841873045915e-08,
7.763878774988814e-06, 2.1964153235738176e-08,
-6.26387401151261e-05, -2.9084862980132985e-07,
5.273893183013963e-06, 3.5755385844828848e-09,
2.5764594631384635e-06, 5.306073868465578e-09,
3.716663268524503e-05 9.397798589618338e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.6198113947287872, 0.03277387754148241,
0.48420986502120716, 0.023598502529995236,
1.3236131294134694 0.07265024012385428
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0016076788034853646, 5.917306656042455e-05,
0.001509485952831795, 4.565762870148128e-05,
0.006096444265737614 0.0003065582911881252
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.02170927716473881, 0.0010790496639361533,
0.021933609735898956, 0.0011485310697641102,
0.010866439795143517 0.00040697794691986716
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
21.709277164738808, 1.0790496639361533,
21.933609735898955, 1.1485310697641102,
10.866439795143517 0.40697794691986716
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 1.0606608188802036, "roll": 0.05514020344831436,
"pitch": 0.8750274435483808, "pitch": 0.04385234525250363,
"yaw": 0.3625876428423115 "yaw": 0.009115662190120907
} }
} }
}, },
@@ -239,10 +233,10 @@
941.75 941.75
], ],
"projected_center_px": [ "projected_center_px": [
1400.2330322265625, 1390.0228271484375,
961.1494750976562 941.5855712890625
], ],
"reprojection_error_px": 21.817437212036854, "reprojection_error_px": 0.2804359204303286,
"confidence": 0.38560830398820567 "confidence": 0.38560830398820567
}, },
{ {
@@ -252,10 +246,10 @@
868.0 868.0
], ],
"projected_center_px": [ "projected_center_px": [
837.8064575195312, 844.3964233398438,
874.4697875976562 868.12060546875
], ],
"reprojection_error_px": 9.309224591587979, "reprojection_error_px": 0.15897736826834985,
"confidence": 0.7633000221267091 "confidence": 0.7633000221267091
}, },
{ {
@@ -265,10 +259,10 @@
884.25 884.25
], ],
"projected_center_px": [ "projected_center_px": [
1396.7430419921875, 1388.595947265625,
897.7351684570312 884.1378784179688
], ],
"reprojection_error_px": 15.676048245759622, "reprojection_error_px": 0.19053475831355451,
"confidence": 0.41353385692040123 "confidence": 0.41353385692040123
}, },
{ {
@@ -278,10 +272,10 @@
751.5 751.5
], ],
"projected_center_px": [ "projected_center_px": [
927.4157104492188, 935.1549682617188,
741.4562377929688 751.4803466796875
], ],
"reprojection_error_px": 12.73786685583067, "reprojection_error_px": 0.09704269307918924,
"confidence": 0.7564906336540409 "confidence": 0.7564906336540409
}, },
{ {
@@ -291,10 +285,10 @@
804.0 804.0
], ],
"projected_center_px": [ "projected_center_px": [
1400.9765625, 1395.26123046875,
810.8125 804.1826782226562
], ],
"reprojection_error_px": 8.899644617421881, "reprojection_error_px": 0.18302310362681312,
"confidence": 0.3126694345835915 "confidence": 0.3126694345835915
}, },
{ {
@@ -304,10 +298,10 @@
853.75 853.75
], ],
"projected_center_px": [ "projected_center_px": [
603.6973266601562, 608.0614013671875,
856.9484252929688 853.809326171875
], ],
"reprojection_error_px": 5.3612426007507255, "reprojection_error_px": 0.08537987211185223,
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
@@ -317,10 +311,10 @@
836.75 836.75
], ],
"projected_center_px": [ "projected_center_px": [
663.4697875976562, 668.0391845703125,
839.4347534179688 836.6756591796875
], ],
"reprojection_error_px": 5.265997087508121, "reprojection_error_px": 0.0840356359844481,
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
@@ -330,10 +324,10 @@
826.0 826.0
], ],
"projected_center_px": [ "projected_center_px": [
807.4747314453125, 813.004638671875,
829.6044921875 826.18603515625
], ],
"reprojection_error_px": 6.807796325427986, "reprojection_error_px": 0.3079143723508629,
"confidence": 0.7421751793130777 "confidence": 0.7421751793130777
}, },
{ {
@@ -343,10 +337,10 @@
840.5 840.5
], ],
"projected_center_px": [ "projected_center_px": [
1350.3095703125, 1345.578125,
849.4346313476562 840.2734985351562
], ],
"reprojection_error_px": 9.919679107557013, "reprojection_error_px": 0.47883340443348826,
"confidence": 0.7206062047849244 "confidence": 0.7206062047849244
}, },
{ {
@@ -356,24 +350,24 @@
816.0 816.0
], ],
"projected_center_px": [ "projected_center_px": [
551.677001953125, 552.9815063476562,
816.7051391601562 815.9108276367188
], ],
"reprojection_error_px": 1.4991814657408642, "reprojection_error_px": 0.09106989376393668,
"confidence": 0.7493333333333333 "confidence": 0.7493333333333333
}, },
{ {
"marker_id": 55, "marker_id": 55,
"observed_center_px": [ "observed_center_px": [
673.75, 674.0,
745.75 745.75
], ],
"projected_center_px": [ "projected_center_px": [
672.6251220703125, 673.6343994140625,
744.4837036132812 745.6969604492188
], ],
"reprojection_error_px": 1.6937700244469431, "reprojection_error_px": 0.369427912298083,
"confidence": 0.7075257945282896 "confidence": 0.714264135428559
}, },
{ {
"marker_id": 72, "marker_id": 72,
@@ -382,10 +376,10 @@
752.25 752.25
], ],
"projected_center_px": [ "projected_center_px": [
1349.437744140625, 1347.2042236328125,
754.7212524414062 752.1643676757812
], ],
"reprojection_error_px": 3.300501939704834, "reprojection_error_px": 0.09709979785761629,
"confidence": 0.6734789354579702 "confidence": 0.6734789354579702
}, },
{ {
@@ -395,10 +389,10 @@
737.75 737.75
], ],
"projected_center_px": [ "projected_center_px": [
819.5049438476562, 822.8344116210938,
737.1298217773438 737.928955078125
], ],
"reprojection_error_px": 3.549653297984602, "reprojection_error_px": 0.24381228684281822,
"confidence": 0.7007874536280202 "confidence": 0.7007874536280202
}, },
{ {
@@ -408,10 +402,10 @@
680.5 680.5
], ],
"projected_center_px": [ "projected_center_px": [
1412.935302734375, 1410.9434814453125,
679.2073364257812 680.6270751953125
], ],
"reprojection_error_px": 2.539001212480775, "reprojection_error_px": 0.23148039861708367,
"confidence": 0.09375509355389204 "confidence": 0.09375509355389204
}, },
{ {
@@ -421,10 +415,10 @@
692.75 692.75
], ],
"projected_center_px": [ "projected_center_px": [
516.1705932617188, 509.48968505859375,
689.8041381835938 692.9900512695312
], ],
"reprojection_error_px": 7.292113294830788, "reprojection_error_px": 0.24027278251974193,
"confidence": 0.6611197014534322 "confidence": 0.6611197014534322
}, },
{ {
@@ -434,10 +428,10 @@
624.0 624.0
], ],
"projected_center_px": [ "projected_center_px": [
622.8407592773438, 617.0324096679688,
620.4411010742188 624.3493041992188
], ],
"reprojection_error_px": 6.627393972077724, "reprojection_error_px": 0.411532472819973,
"confidence": 0.6477291469727456 "confidence": 0.6477291469727456
}, },
{ {
@@ -447,10 +441,10 @@
487.75 487.75
], ],
"projected_center_px": [ "projected_center_px": [
702.9630126953125, 694.99365234375,
484.2602233886719 487.8282165527344
], ],
"reprojection_error_px": 8.69414239489329, "reprojection_error_px": 0.07847370171922202,
"confidence": 0.6337670359070791 "confidence": 0.6337670359070791
}, },
{ {
@@ -460,10 +454,10 @@
417.5 417.5
], ],
"projected_center_px": [ "projected_center_px": [
1396.9627685546875, 1404.02294921875,
409.6157531738281 417.55950927734375
], ],
"reprojection_error_px": 10.56806389226032, "reprojection_error_px": 0.063781037395222,
"confidence": 0.18744910383322472 "confidence": 0.18744910383322472
}, },
{ {
@@ -473,10 +467,10 @@
429.0 429.0
], ],
"projected_center_px": [ "projected_center_px": [
1351.6396484375, 1358.4383544921875,
421.33294677734375 428.9149475097656
], ],
"reprojection_error_px": 10.123262957114656, "reprojection_error_px": 0.20666722241874605,
"confidence": 0.6165792028347551 "confidence": 0.6165792028347551
}, },
{ {
@@ -486,10 +480,10 @@
304.25 304.25
], ],
"projected_center_px": [ "projected_center_px": [
873.7037353515625, 872.131591796875,
295.84649658203125 304.3210144042969
], ],
"reprojection_error_px": 8.528318484214518, "reprojection_error_px": 0.1380708085908505,
"confidence": 0.5950107118694543 "confidence": 0.5950107118694543
}, },
{ {
@@ -499,10 +493,10 @@
432.5 432.5
], ],
"projected_center_px": [ "projected_center_px": [
646.2723388671875, 633.066650390625,
430.4100341796875 432.33154296875
], ],
"reprojection_error_px": 13.435882410006812, "reprojection_error_px": 0.18116303692538543,
"confidence": 0.6273000253365986 "confidence": 0.6273000253365986
}, },
{ {
@@ -512,10 +506,10 @@
406.25 406.25
], ],
"projected_center_px": [ "projected_center_px": [
555.8474731445312, 535.652587890625,
406.1711120605469 406.45611572265625
], ],
"reprojection_error_px": 20.347626069751026, "reprojection_error_px": 0.2564502982870075,
"confidence": 0.5831437313149622 "confidence": 0.5831437313149622
}, },
{ {
@@ -525,10 +519,10 @@
335.0 335.0
], ],
"projected_center_px": [ "projected_center_px": [
658.4035034179688, 641.8085327148438,
336.73089599609375 335.0706787109375
], ],
"reprojection_error_px": 16.49457260230182, "reprojection_error_px": 0.20409605940559322,
"confidence": 0.5891999992118755 "confidence": 0.5891999992118755
}, },
{ {
@@ -538,10 +532,10 @@
315.5 315.5
], ],
"projected_center_px": [ "projected_center_px": [
1179.3941650390625, 1186.348876953125,
311.7130432128906 315.7043151855469
], ],
"reprojection_error_px": 7.832210078837687, "reprojection_error_px": 0.22698314233514658,
"confidence": 0.5951794442486946 "confidence": 0.5951794442486946
}, },
{ {
@@ -551,10 +545,10 @@
307.5 307.5
], ],
"projected_center_px": [ "projected_center_px": [
1298.304443359375, 1307.800537109375,
302.20556640625 307.4868469238281
], ],
"reprojection_error_px": 10.610810007231827, "reprojection_error_px": 0.30082479539470125,
"confidence": 0.6113473409254715 "confidence": 0.6113473409254715
}, },
{ {
@@ -564,10 +558,10 @@
586.25 586.25
], ],
"projected_center_px": [ "projected_center_px": [
985.9669189453125, 992.2567749023438,
570.658447265625 585.1568603515625
], ],
"reprojection_error_px": 16.308721011915896, "reprojection_error_px": 1.8615383147598865,
"confidence": 0.5125834290597466 "confidence": 0.5125834290597466
}, },
{ {
@@ -577,10 +571,10 @@
375.75 375.75
], ],
"projected_center_px": [ "projected_center_px": [
1150.17138671875, 1155.8790283203125,
370.5621643066406 375.71722412109375
], ],
"reprojection_error_px": 7.802971995570498, "reprojection_error_px": 0.1253331780674705,
"confidence": 0.5357981489703919 "confidence": 0.5357981489703919
}, },
{ {
@@ -590,10 +584,10 @@
207.0 207.0
], ],
"projected_center_px": [ "projected_center_px": [
1307.6337890625, 1319.6717529296875,
205.02081298828125 206.78985595703125
], ],
"reprojection_error_px": 12.276797168209256, "reprojection_error_px": 0.22423898592292368,
"confidence": 0.5695343676313864 "confidence": 0.5695343676313864
}, },
{ {
@@ -603,10 +597,10 @@
182.0 182.0
], ],
"projected_center_px": [ "projected_center_px": [
1106.0794677734375, 1111.5,
185.2193603515625 182.22265625
], ],
"reprojection_error_px": 6.304478621774781, "reprojection_error_px": 0.22265625,
"confidence": 0.5650361954096211 "confidence": 0.5650361954096211
}, },
{ {
@@ -616,10 +610,10 @@
132.75 132.75
], ],
"projected_center_px": [ "projected_center_px": [
1269.94775390625, 1282.473876953125,
135.69482421875 132.862548828125
], ],
"reprojection_error_px": 12.893055172355336, "reprojection_error_px": 0.11554069538627608,
"confidence": 0.5346582638408491 "confidence": 0.5346582638408491
} }
] ]

374
data/evaluations/Scene9a/render_g_aruco_detection.json
View File

File diff suppressed because it is too large Load Diff

383
data/evaluations/Scene9a/render_g_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T15:26:01Z", "created_utc": "2026-06-01T19:27:40Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_g_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -15,7 +15,7 @@
], ],
[ [
0.0, 0.0,
2250.0, 2000.0,
540.0 540.0
], ],
[ [
@@ -78,153 +78,150 @@
0, 0,
1, 1,
2, 2,
3, 3
4
], ],
"rms": [ "rms": [
0.006235925667708763, 0.008616079914681034,
0.002480316844311102, 0.0005290489760608585,
0.002134602611969543, 9.065538756645569e-05,
0.002134133953166494, 9.061086191462962e-05
0.0021341338435021586
], ],
"lambda": [ "lambda": [
0.001, 0.001,
0.0005, 0.0005,
0.00025, 0.00025,
0.000125, 0.000125
6.25e-05
] ]
}, },
"residual_rms_px": 6.476911002138597, "residual_rms_px": 0.25628655734249844,
"residual_median_px": 3.7029248047180534, "residual_median_px": 0.2016244341154558,
"residual_max_px": 15.301943490300987, "residual_max_px": 0.5371148854753282,
"sigma2_normalized": 4.995287964473454e-06 "sigma2_normalized": 9.004876109362618e-09
}, },
"camera_pose": { "camera_pose": {
"world_to_camera": { "world_to_camera": {
"rotation_matrix": [ "rotation_matrix": [
[ [
-0.7273880839347839, -0.7071177959442139,
-0.6839356422424316, -0.707095742225647,
0.056023478507995605 -5.7539269619155675e-05
], ],
[ [
-0.5901118516921997, -0.6416155695915222,
0.5817513465881348, 0.641669750213623,
-0.5597618818283081 -0.42022547125816345
], ],
[ [
0.35024937987327576, 0.2971765697002411,
-0.44022423028945923, -0.29711198806762695,
-0.8267574906349182 -0.907419741153717
] ]
], ],
"translation_m": [ "translation_m": [
0.010265595279633999, -0.00042765357648022473,
0.2970719039440155, 0.33185747265815735,
1.380825161933899 1.3887135982513428
], ],
"rvec_rad": [ "rvec_rad": [
1.0739947938364942, 1.116205448110461,
-2.643494071826141, -2.694865990418887,
0.8429669209441935 0.5936748364575837
] ]
}, },
"camera_in_world": { "camera_in_world": {
"position_m": [ "position_m": [
-0.3008604347705841, -0.20007061958312988,
0.44207167625427246, 0.19935818016529083,
1.3073219060897827 1.3996011018753052
], ],
"position_mm": [ "position_mm": [
-300.8604431152344, -200.07061767578125,
442.0716857910156, 199.35818481445312,
1307.3218994140625 1399.60107421875
], ],
"orientation_deg": { "orientation_deg": {
"roll": -151.9659881591797, "roll": -161.8702392578125,
"pitch": -20.5025691986084, "pitch": -17.28809928894043,
"yaw": -140.94842529296875 "yaw": -137.78042602539062
} }
}, },
"uncertainty": { "uncertainty": {
"pose_covariance_6x6": [ "pose_covariance_6x6": [
[ [
1.2678993351633908e-05, 3.122308768158314e-08,
-9.273892846845152e-06, -3.827193913983776e-08,
3.2328364183342608e-06, 2.6499414373493475e-08,
-6.897131572790644e-07, 2.194363774095227e-09,
3.555819081815747e-06, 6.679045586989726e-09,
7.713103585412565e-06 2.5255290918367435e-08
], ],
[ [
-9.273892846845195e-06, -3.827193913983792e-08,
3.14196712760964e-05, 1.0447376623227572e-07,
-1.4607227643187516e-05, -7.694911868987591e-08,
-5.236226978853111e-06, -1.6801476456589724e-08,
-4.587383564426748e-06, -8.745384266776345e-09,
-1.857892082197838e-05 -5.7460289366049056e-08
], ],
[ [
3.23283641833374e-06, 2.64994143734934e-08,
-1.460722764318749e-05, -7.694911868987663e-08,
0.00010154830012065975, 2.7517472114517384e-07,
1.2473216237054721e-05, 2.8922860750337977e-08,
-6.944847210994546e-06, -1.498252359879593e-08,
-8.527775507467268e-06 1.5237661679730823e-10
], ],
[ [
-6.897131572791107e-07, 2.194363774095285e-09,
-5.236226978853115e-06, -1.680147645658985e-08,
1.2473216237054635e-05, 2.8922860750337888e-08,
2.996532838598317e-06, 5.819333895589589e-09,
-6.280818269397964e-07, -9.122485832771833e-10,
-6.992394616878696e-07 2.766408365485984e-09
], ],
[ [
3.555819081815803e-06, 6.679045586989753e-09,
-4.587383564426746e-06, -8.745384266776258e-09,
-6.944847210994416e-06, -1.4982523598795942e-08,
-6.280818269397929e-07, -9.122485832772114e-10,
2.3708665503792565e-06, 4.145020534936541e-09,
4.66551432019133e-06 9.394609428122434e-09
], ],
[ [
7.713103585412692e-06, 2.5255290918367355e-08,
-1.8578920821978394e-05, -5.7460289366048705e-08,
-8.52777550746722e-06, 1.523766167965108e-10,
-6.992394616878835e-07, 2.766408365485858e-09,
4.665514320191356e-06, 9.394609428122462e-09,
2.5294584377413852e-05 5.7799786969888015e-08
] ]
], ],
"parameter_std": { "parameter_std": {
"rvec_std_deg": [ "rvec_std_deg": [
0.20401637161389885, 0.010124196289487604,
0.3211614802252145, 0.018519372105904597,
0.5773763109697178 0.030055703650689793
], ],
"tvec_std_m": [ "tvec_std_m": [
0.0017310496349320307, 7.628455869695773e-05,
0.0015397618485919363, 6.43818338892e-05,
0.005029372165331758 0.00024041586255879211
] ]
}, },
"camera_center_std_m": [ "camera_center_std_m": [
0.008096037874330365, 0.00043809376796639124,
0.012116954099081595, 0.0006280100024420472,
0.007118059499775292 0.00029337175570825304
], ],
"camera_center_std_mm": [ "camera_center_std_mm": [
8.096037874330365, 0.4380937679663912,
12.116954099081594, 0.6280100024420472,
7.118059499775292 0.293371755708253
], ],
"orientation_std_deg": { "orientation_std_deg": {
"roll": 0.48438711097623344, "roll": 0.01876873931129824,
"pitch": 0.3328190953343278, "pitch": 0.01811282155105617,
"yaw": 0.18011378424316185 "yaw": 0.0060238390839913334
} }
} }
}, },
@@ -237,10 +234,10 @@
955.25 955.25
], ],
"projected_center_px": [ "projected_center_px": [
70.9861068725586, 73.7973403930664,
970.252197265625 955.2714233398438
], ],
"reprojection_error_px": 15.301943490300987, "reprojection_error_px": 0.20378880188209442,
"confidence": 0.6483335065489111 "confidence": 0.6483335065489111
}, },
{ {
@@ -250,10 +247,10 @@
880.0 880.0
], ],
"projected_center_px": [ "projected_center_px": [
71.5440444946289, 73.41437530517578,
889.0794677734375 879.8236694335938
], ],
"reprojection_error_px": 9.287760601344202, "reprojection_error_px": 0.1960205525267428,
"confidence": 0.6193012733871159 "confidence": 0.6193012733871159
}, },
{ {
@@ -263,10 +260,10 @@
863.25 863.25
], ],
"projected_center_px": [ "projected_center_px": [
926.8487548828125, 921.9163818359375,
867.7329711914062 862.8717041015625
], ],
"reprojection_error_px": 6.789280673089211, "reprojection_error_px": 0.41326831732491726,
"confidence": 0.6301648743824048 "confidence": 0.6301648743824048
}, },
{ {
@@ -276,10 +273,10 @@
789.0 789.0
], ],
"projected_center_px": [ "projected_center_px": [
115.59223175048828, 115.13070678710938,
792.4087524414062 788.9540405273438
], ],
"reprojection_error_px": 3.4598167080178515, "reprojection_error_px": 0.13855156918380993,
"confidence": 0.5889608001281618 "confidence": 0.5889608001281618
}, },
{ {
@@ -289,10 +286,10 @@
763.75 763.75
], ],
"projected_center_px": [ "projected_center_px": [
57.80401611328125, 58.64946365356445,
766.3001098632812 764.1337280273438
], ],
"reprojection_error_px": 2.6433792549266277, "reprojection_error_px": 0.4118089152822709,
"confidence": 0.3861449878885159 "confidence": 0.3861449878885159
}, },
{ {
@@ -302,10 +299,10 @@
769.25 769.25
], ],
"projected_center_px": [ "projected_center_px": [
880.1554565429688, 878.5601806640625,
771.2491455078125 769.3589477539062
], ],
"reprojection_error_px": 2.4437452517765776, "reprojection_error_px": 0.2188629556982412,
"confidence": 0.6025285956069217 "confidence": 0.6025285956069217
}, },
{ {
@@ -315,11 +312,11 @@
692.5 692.5
], ],
"projected_center_px": [ "projected_center_px": [
574.0743408203125, 567.5054321289062,
684.7786254882812 692.50634765625
], ],
"reprojection_error_px": 10.141083846012082, "reprojection_error_px": 0.008354685171942799,
"confidence": 0.5479675284559109 "confidence": 0.5318508364425018
}, },
{ {
"marker_id": 56, "marker_id": 56,
@@ -328,10 +325,10 @@
714.0 714.0
], ],
"projected_center_px": [ "projected_center_px": [
95.77401733398438, 95.06304931640625,
713.859619140625 714.1227416992188
], ],
"reprojection_error_px": 0.5424951170240664, "reprojection_error_px": 0.22364275714468493,
"confidence": 0.5338277449622252 "confidence": 0.5338277449622252
}, },
{ {
@@ -341,10 +338,10 @@
751.0 751.0
], ],
"projected_center_px": [ "projected_center_px": [
975.6190795898438, 977.5006103515625,
752.17919921875 750.7692260742188
], ],
"reprojection_error_px": 2.2199937808117767, "reprojection_error_px": 0.23077473290964878,
"confidence": 0.5866976533295247 "confidence": 0.5866976533295247
}, },
{ {
@@ -354,10 +351,10 @@
746.5 746.5
], ],
"projected_center_px": [ "projected_center_px": [
799.0851440429688, 796.70361328125,
747.9617919921875 746.6495971679688
], ],
"reprojection_error_px": 2.7549471010957616, "reprojection_error_px": 0.15662388176986933,
"confidence": 0.6161895904287729 "confidence": 0.6161895904287729
}, },
{ {
@@ -367,10 +364,10 @@
695.0 695.0
], ],
"projected_center_px": [ "projected_center_px": [
46.38943099975586, 46.60731887817383,
694.2696533203125 695.4257202148438
], ],
"reprojection_error_px": 0.8145036994806192, "reprojection_error_px": 0.4489939908864968,
"confidence": 0.25489120456317976 "confidence": 0.25489120456317976
}, },
{ {
@@ -380,10 +377,10 @@
605.25 605.25
], ],
"projected_center_px": [ "projected_center_px": [
483.0917053222656, 477.3971862792969,
595.4297485351562 605.05517578125
], ],
"reprojection_error_px": 11.30064189521195, "reprojection_error_px": 0.22028875907855136,
"confidence": 0.5592585450018642 "confidence": 0.5592585450018642
}, },
{ {
@@ -393,10 +390,10 @@
650.75 650.75
], ],
"projected_center_px": [ "projected_center_px": [
32.99158477783203, 32.87502670288086,
647.49365234375 650.4948120117188
], ],
"reprojection_error_px": 3.265296810895607, "reprojection_error_px": 0.28416999453899083,
"confidence": 0.10851782362904303 "confidence": 0.10851782362904303
}, },
{ {
@@ -406,10 +403,10 @@
602.25 602.25
], ],
"projected_center_px": [ "projected_center_px": [
796.5905151367188, 799.7515258789062,
601.0611572265625 602.0577392578125
], ],
"reprojection_error_px": 2.9131094860949966, "reprojection_error_px": 0.5371148854753282,
"confidence": 0.5169030981045668 "confidence": 0.5169030981045668
}, },
{ {
@@ -419,10 +416,10 @@
509.0 509.0
], ],
"projected_center_px": [ "projected_center_px": [
847.8040161132812, 856.5053100585938,
508.7509460449219 509.2841491699219
], ],
"reprojection_error_px": 8.949450015166942, "reprojection_error_px": 0.37498522396580464,
"confidence": 0.5036491725121419 "confidence": 0.5036491725121419
}, },
{ {
@@ -432,10 +429,10 @@
531.0 531.0
], ],
"projected_center_px": [ "projected_center_px": [
697.6927490234375, 700.4795532226562,
529.1148071289062 530.8629150390625
], ],
"reprojection_error_px": 3.381510048282247, "reprojection_error_px": 0.1386014329614986,
"confidence": 0.5306273485801539 "confidence": 0.5306273485801539
}, },
{ {
@@ -445,10 +442,10 @@
362.0 362.0
], ],
"projected_center_px": [ "projected_center_px": [
233.3496551513672, 227.0518798828125,
350.1723327636719 362.091796875
], ],
"reprojection_error_px": 13.424300085836641, "reprojection_error_px": 0.10544282099984027,
"confidence": 0.42765819396972654 "confidence": 0.42765819396972654
}, },
{ {
@@ -458,10 +455,10 @@
437.0 437.0
], ],
"projected_center_px": [ "projected_center_px": [
759.9761962890625, 768.0307006835938,
436.84722900390625 437.2737121582031
], ],
"reprojection_error_px": 8.275214004747589, "reprojection_error_px": 0.3507285784256268,
"confidence": 0.4770832099303063 "confidence": 0.4770832099303063
}, },
{ {
@@ -471,10 +468,10 @@
463.5 463.5
], ],
"projected_center_px": [ "projected_center_px": [
664.6365356445312, 668.4970092773438,
461.6287536621094 463.2967834472656
], ],
"reprojection_error_px": 4.292775289139491, "reprojection_error_px": 0.20323855866259635,
"confidence": 0.5046753915740128 "confidence": 0.5046753915740128
}, },
{ {
@@ -484,10 +481,10 @@
430.25 430.25
], ],
"projected_center_px": [ "projected_center_px": [
703.0721435546875, 709.2247924804688,
429.5157775878906 430.4122009277344
], ],
"reprojection_error_px": 6.221333684133404, "reprojection_error_px": 0.1641479820126044,
"confidence": 0.48044802302553946 "confidence": 0.48044802302553946
}, },
{ {
@@ -497,10 +494,10 @@
287.0 287.0
], ],
"projected_center_px": [ "projected_center_px": [
157.03260803222656, 149.6591033935547,
275.2257080078125 286.9810791015625
], ],
"reprojection_error_px": 13.977629830713603, "reprojection_error_px": 0.16022449949461526,
"confidence": 0.37983708259950827 "confidence": 0.37983708259950827
}, },
{ {
@@ -510,10 +507,10 @@
312.0 312.0
], ],
"projected_center_px": [ "projected_center_px": [
329.4297790527344, 327.3981628417969,
308.7106628417969 312.0917053222656
], ],
"reprojection_error_px": 3.946032901418256, "reprojection_error_px": 0.1742472204115978,
"confidence": 0.4022491322386975 "confidence": 0.4022491322386975
}, },
{ {
@@ -523,10 +520,10 @@
340.75 340.75
], ],
"projected_center_px": [ "projected_center_px": [
495.96221923828125, 497.6419677734375,
339.0134582519531 340.7227478027344
], ],
"reprojection_error_px": 2.4923357106700874, "reprojection_error_px": 0.11141653482251128,
"confidence": 0.4159799246492322 "confidence": 0.4159799246492322
}, },
{ {
@@ -536,10 +533,10 @@
281.0 281.0
], ],
"projected_center_px": [ "projected_center_px": [
359.9056701660156, 358.7513122558594,
278.7539367675781 281.01861572265625
], ],
"reprojection_error_px": 2.525940137187733, "reprojection_error_px": 0.018661916982316784,
"confidence": 0.40369943799637525 "confidence": 0.40369943799637525
}, },
{ {
@@ -549,10 +546,10 @@
321.25 321.25
], ],
"projected_center_px": [ "projected_center_px": [
551.891845703125, 555.6884155273438,
320.8056945800781 321.32861328125
], ],
"reprojection_error_px": 4.132110723722741, "reprojection_error_px": 0.32134861379717355,
"confidence": 0.3811333266788848 "confidence": 0.3811333266788848
}, },
{ {
@@ -562,10 +559,10 @@
258.0 258.0
], ],
"projected_center_px": [ "projected_center_px": [
426.53265380859375, 427.4093933105469,
257.2494812011719 257.87713623046875
], ],
"reprojection_error_px": 1.2243517147546243, "reprojection_error_px": 0.15266000798206172,
"confidence": 0.40503361354029466 "confidence": 0.40503361354029466
}, },
{ {
@@ -575,10 +572,10 @@
182.0 182.0
], ],
"projected_center_px": [ "projected_center_px": [
275.837890625, 273.0826721191406,
181.2162322998047 181.92306518554688
], ],
"reprojection_error_px": 2.7039729463943125, "reprojection_error_px": 0.18416727556171852,
"confidence": 0.3570061701664598 "confidence": 0.3570061701664598
}, },
{ {
@@ -588,10 +585,10 @@
214.0 214.0
], ],
"projected_center_px": [ "projected_center_px": [
516.2708740234375, 520.9168090820312,
216.48770141601562 214.18429565429688
], ],
"reprojection_error_px": 4.906543066241431, "reprojection_error_px": 0.4557353388277527,
"confidence": 0.3794817963241243 "confidence": 0.3794817963241243
}, },
{ {
@@ -601,10 +598,10 @@
168.0 168.0
], ],
"projected_center_px": [ "projected_center_px": [
337.6727294921875, 336.7027893066406,
169.01715087890625 168.0972442626953
], ],
"reprojection_error_px": 1.552382160521728, "reprojection_error_px": 0.2248998655289513,
"confidence": 0.33715640885841447 "confidence": 0.33715640885841447
}, },
{ {
@@ -614,10 +611,10 @@
184.75 184.75
], ],
"projected_center_px": [ "projected_center_px": [
414.4145202636719, 415.77984619140625,
186.4226531982422 184.76004028320312
], ],
"reprojection_error_px": 2.140391283792021, "reprojection_error_px": 0.03148971940582299,
"confidence": 0.37002407289138056 "confidence": 0.37002407289138056
}, },
{ {
@@ -627,10 +624,10 @@
123.0 123.0
], ],
"projected_center_px": [ "projected_center_px": [
309.95440673828125, 308.3591613769531,
125.2011489868164 122.95537567138672
], ],
"reprojection_error_px": 2.783892812530939, "reprojection_error_px": 0.11793022056491018,
"confidence": 0.3320649522984733 "confidence": 0.3320649522984733
}, },
{ {
@@ -640,10 +637,10 @@
65.0 65.0
], ],
"projected_center_px": [ "projected_center_px": [
166.7536163330078, 160.94216918945312,
66.73542022705078 64.80853271484375
], ],
"reprojection_error_px": 6.009640943676357, "reprojection_error_px": 0.20001030956831525,
"confidence": 0.33383204999036237 "confidence": 0.33383204999036237
}, },
{ {
@@ -653,10 +650,10 @@
79.0 79.0
], ],
"projected_center_px": [ "projected_center_px": [
335.4161376953125, 334.9178161621094,
83.8255615234375 79.0076904296875
], ],
"reprojection_error_px": 4.8713225561028795, "reprojection_error_px": 0.16799228248314985,
"confidence": 0.33383204999036237 "confidence": 0.33383204999036237
}, },
{ {
@@ -666,10 +663,10 @@
58.5 58.5
], ],
"projected_center_px": [ "projected_center_px": [
299.5746154785156, 297.8836975097656,
63.377777099609375 58.27167510986328
], ],
"reprojection_error_px": 5.125633945050567, "reprojection_error_px": 0.2562391942905331,
"confidence": 0.2761672244399736 "confidence": 0.2761672244399736
} }
] ]

4845
data/evaluations/Scene9a/robot_state.json
View File

File diff suppressed because it is too large Load Diff

8
data/robot/robot.json
View File

@@ -42,9 +42,9 @@
500 500
], ],
"cameraPosition": [ "cameraPosition": [
-300, 1200,
-800, -900,
800 400
], ],
"cameraPosition_c": [ "cameraPosition_c": [
600, 600,
@@ -54,7 +54,7 @@
"cameraTarget": [ "cameraTarget": [
210, 210,
-100, -100,
180 50
], ],
"cameraUpVector": [ "cameraUpVector": [
0, 0,

78
data/simulation/Scene9b/render_a.json
View File

@@ -2001,6 +2001,84 @@
-0.05233597010374069 -0.05233597010374069
] ]
}, },
{
"name": "aruco_248",
"id": 248,
"link": "Ellbow",
"position_m": [
0.2224999964237213,
-0.17729905247688293,
0.05413304641842842
],
"position_mm": [
222.4999964237213,
-177.29905247688293,
54.13304641842842
],
"rotation_quaternion": [
0.5129170417785645,
0.48674020171165466,
0.4867401123046875,
-0.512917160987854
],
"normal": [
-2.0861628513557662e-07,
-0.9986295700073242,
0.05233597010374069
]
},
{
"name": "aruco_232",
"id": 232,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.16823066771030426,
0.02851978689432144
],
"position_mm": [
259.99999046325684,
-168.23066771030426,
28.51978689432144
],
"rotation_quaternion": [
0.4067366421222687,
0.9135454893112183,
0.0,
0.0
],
"normal": [
0.0,
-0.7431448698043823,
-0.6691306233406067
]
},
{
"name": "aruco_231",
"id": 231,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.1180923730134964,
0.02589215338230133
],
"position_mm": [
259.99999046325684,
-118.0923730134964,
25.89215338230133
],
"rotation_quaternion": [
0.35836800932884216,
-0.9335803985595703,
-0.0,
-0.0
],
"normal": [
0.0,
0.6691306829452515,
-0.7431447505950928
]
},
{ {
"name": "Arm2_marker_120", "name": "Arm2_marker_120",
"id": 120, "id": 120,

BIN
data/simulation/Scene9b/render_a.npz
View File

Binary file not shown.

BIN
data/simulation/Scene9b/render_a.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 16 MiB

After

Width:  |  Height:  |  Size: 16 MiB

78
data/simulation/Scene9b/render_b.json
View File

@@ -2001,6 +2001,84 @@
-0.05233597010374069 -0.05233597010374069
] ]
}, },
{
"name": "aruco_248",
"id": 248,
"link": "Ellbow",
"position_m": [
0.2224999964237213,
-0.17729905247688293,
0.05413304641842842
],
"position_mm": [
222.4999964237213,
-177.29905247688293,
54.13304641842842
],
"rotation_quaternion": [
0.5129170417785645,
0.48674020171165466,
0.4867401123046875,
-0.512917160987854
],
"normal": [
-2.0861628513557662e-07,
-0.9986295700073242,
0.05233597010374069
]
},
{
"name": "aruco_232",
"id": 232,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.16823066771030426,
0.02851978689432144
],
"position_mm": [
259.99999046325684,
-168.23066771030426,
28.51978689432144
],
"rotation_quaternion": [
0.4067366421222687,
0.9135454893112183,
0.0,
0.0
],
"normal": [
0.0,
-0.7431448698043823,
-0.6691306233406067
]
},
{
"name": "aruco_231",
"id": 231,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.1180923730134964,
0.02589215338230133
],
"position_mm": [
259.99999046325684,
-118.0923730134964,
25.89215338230133
],
"rotation_quaternion": [
0.35836800932884216,
-0.9335803985595703,
-0.0,
-0.0
],
"normal": [
0.0,
0.6691306829452515,
-0.7431447505950928
]
},
{ {
"name": "Arm2_marker_120", "name": "Arm2_marker_120",
"id": 120, "id": 120,

BIN
data/simulation/Scene9b/render_b.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 16 MiB

After

Width:  |  Height:  |  Size: 16 MiB

78
data/simulation/Scene9b/render_c.json
View File

@@ -2001,6 +2001,84 @@
-0.05233597010374069 -0.05233597010374069
] ]
}, },
{
"name": "aruco_248",
"id": 248,
"link": "Ellbow",
"position_m": [
0.2224999964237213,
-0.17729905247688293,
0.05413304641842842
],
"position_mm": [
222.4999964237213,
-177.29905247688293,
54.13304641842842
],
"rotation_quaternion": [
0.5129170417785645,
0.48674020171165466,
0.4867401123046875,
-0.512917160987854
],
"normal": [
-2.0861628513557662e-07,
-0.9986295700073242,
0.05233597010374069
]
},
{
"name": "aruco_232",
"id": 232,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.16823066771030426,
0.02851978689432144
],
"position_mm": [
259.99999046325684,
-168.23066771030426,
28.51978689432144
],
"rotation_quaternion": [
0.4067366421222687,
0.9135454893112183,
0.0,
0.0
],
"normal": [
0.0,
-0.7431448698043823,
-0.6691306233406067
]
},
{
"name": "aruco_231",
"id": 231,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.1180923730134964,
0.02589215338230133
],
"position_mm": [
259.99999046325684,
-118.0923730134964,
25.89215338230133
],
"rotation_quaternion": [
0.35836800932884216,
-0.9335803985595703,
-0.0,
-0.0
],
"normal": [
0.0,
0.6691306829452515,
-0.7431447505950928
]
},
{ {
"name": "Arm2_marker_120", "name": "Arm2_marker_120",
"id": 120, "id": 120,

BIN
data/simulation/Scene9b/render_c.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 15 MiB

After

Width:  |  Height:  |  Size: 15 MiB

78
data/simulation/Scene9b/render_d.json
View File

@@ -2001,6 +2001,84 @@
-0.05233597010374069 -0.05233597010374069
] ]
}, },
{
"name": "aruco_248",
"id": 248,
"link": "Ellbow",
"position_m": [
0.2224999964237213,
-0.17729905247688293,
0.05413304641842842
],
"position_mm": [
222.4999964237213,
-177.29905247688293,
54.13304641842842
],
"rotation_quaternion": [
0.5129170417785645,
0.48674020171165466,
0.4867401123046875,
-0.512917160987854
],
"normal": [
-2.0861628513557662e-07,
-0.9986295700073242,
0.05233597010374069
]
},
{
"name": "aruco_232",
"id": 232,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.16823066771030426,
0.02851978689432144
],
"position_mm": [
259.99999046325684,
-168.23066771030426,
28.51978689432144
],
"rotation_quaternion": [
0.4067366421222687,
0.9135454893112183,
0.0,
0.0
],
"normal": [
0.0,
-0.7431448698043823,
-0.6691306233406067
]
},
{
"name": "aruco_231",
"id": 231,
"link": "Ellbow",
"position_m": [
0.25999999046325684,
-0.1180923730134964,
0.02589215338230133
],
"position_mm": [
259.99999046325684,
-118.0923730134964,
25.89215338230133
],
"rotation_quaternion": [
0.35836800932884216,
-0.9335803985595703,
-0.0,
-0.0
],
"normal": [
0.0,
0.6691306829452515,
-0.7431447505950928
]
},
{ {
"name": "Arm2_marker_120", "name": "Arm2_marker_120",
"id": 120, "id": 120,

BIN
data/simulation/Scene9b/render_d.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 16 MiB

After

Width:  |  Height:  |  Size: 16 MiB

BIN
data/simulation/debug/render.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 2.0 MiB

After

Width:  |  Height:  |  Size: 16 MiB

176
pipeline/3b_corner_marker_poses.py Normal file
View File

@@ -0,0 +1,176 @@
#!/usr/bin/env python3
"""
3b_corner_marker_poses.py
=========================
Produktiver Pipeline-Schritt: leitet aus den 4 ArUco-Ecken jedes Markers eine
volle Marker-Pose ab (Position + gemessene Normale), statt nur den Center zu
triangulieren.
Validiert in benchmark/stage0_corner_normals.py: die aus triangulierten Ecken
abgeleitete Normale ist ~1 deg genau (Median), auch fuer Finger-Marker.
Input:
--evalDir Ordner mit render_*_aruco_detection.json + _camera_pose.json
--robot robot.json (fuer marker_id -> link Zuordnung)
Output:
<evalDir>/aruco_marker_poses.json (pro Marker: position, gemessene normal,
4 triangulierte Ecken, #Kameras, Kantenlaenge)
Das Format ist kompatibel mit robot_viewer.html (marker_id, position_m/mm, normal)
und mit 9_evaluateMarker.py (position_m), erweitert um die gemessene Orientierung.
"""
from __future__ import annotations
import argparse
import glob
import json
import os
import re
import time
from typing import Dict, List, Tuple
import numpy as np
import cv2
# ------------------------------------------------------------------
# Loading
# ------------------------------------------------------------------
def load_cameras(eval_dir: str) -> Dict[str, dict]:
cams: Dict[str, dict] = {}
for det_path in glob.glob(os.path.join(eval_dir, "*_aruco_detection.json")):
base = os.path.basename(det_path)
m = re.match(r"render_([A-Za-z0-9]+)_aruco_detection\.json", base)
if not m:
continue
cam_id = m.group(1)
pose_path = os.path.join(eval_dir, f"render_{cam_id}_camera_pose.json")
if not os.path.exists(pose_path):
print(f"[WARN] no pose for camera {cam_id}, skipping")
continue
det = json.load(open(det_path, "r", encoding="utf-8"))
pose = json.load(open(pose_path, "r", encoding="utf-8"))
K = np.array(det["camera"]["camera_matrix"], dtype=float).reshape(3, 3)
D = np.array(det["camera"]["distortion_coefficients"], dtype=float).reshape(-1, 1)
w2c = pose["camera_pose"]["world_to_camera"]
R = np.array(w2c["rotation_matrix"], dtype=float).reshape(3, 3)
t = np.array(w2c["translation_m"], dtype=float).reshape(3)
markers: Dict[int, np.ndarray] = {}
for d in det.get("detections", []):
pts = d.get("image_points_px")
if pts is not None:
markers[int(d["marker_id"])] = np.array(pts, dtype=float).reshape(4, 2)
cams[cam_id] = dict(K=K, D=D, R=R, t=t, markers=markers)
return cams
def load_marker_links(robot_path: str) -> Dict[int, str]:
robot = json.load(open(robot_path, "r", encoding="utf-8"))
out: Dict[int, str] = {}
for link_name, link in (robot.get("links", {}) or {}).items():
for mk in link.get("markers", []) or []:
mid = int(mk.get("id", -1))
if mid >= 0:
out[mid] = link_name
return out
# ------------------------------------------------------------------
# Geometry (validated in stage0)
# ------------------------------------------------------------------
def triangulate_multiview(observations) -> np.ndarray:
A = []
for K, D, R, t, uv in observations:
und = cv2.undistortPoints(np.array([[uv]], dtype=np.float32), K, D).reshape(2)
x, y = float(und[0]), float(und[1])
P = np.hstack([R, t.reshape(3, 1)])
A.append(x * P[2] - P[0])
A.append(y * P[2] - P[1])
_, _, Vt = np.linalg.svd(np.asarray(A, dtype=float))
X = Vt[-1]
return np.array([np.nan] * 3) if abs(X[3]) < 1e-12 else X[:3] / X[3]
def corner_plane_normal(corners3d: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
center = corners3d.mean(axis=0)
_, _, Vt = np.linalg.svd(corners3d - center)
n = Vt[-1]
# ArUco corners clockwise from the front: outward (camera-facing) normal,
# matching the Blender/robot.json convention, points opposite cross(e01,e02).
cross = np.cross(corners3d[1] - corners3d[0], corners3d[2] - corners3d[0])
if np.dot(n, cross) > 0:
n = -n
nn = np.linalg.norm(n)
return (n / nn if nn > 1e-12 else n), center
# ------------------------------------------------------------------
# Main
# ------------------------------------------------------------------
def main() -> None:
ap = argparse.ArgumentParser(description="Derive marker poses (position + measured normal) from ArUco corners")
ap.add_argument("--evalDir", required=True, help="folder with detection + camera_pose JSONs")
ap.add_argument("--robot", required=True, help="robot.json (for marker->link)")
ap.add_argument("--minCams", type=int, default=2, help="min cameras to triangulate a marker")
ap.add_argument("--out", default=None, help="output path (default <evalDir>/aruco_marker_poses.json)")
args = ap.parse_args()
cams = load_cameras(args.evalDir)
if len(cams) < 2:
print("[ERROR] need >=2 cameras")
return
links = load_marker_links(args.robot)
print(f"[INFO] Cameras: {sorted(cams.keys())} | marker-link entries: {len(links)}")
marker_cams: Dict[int, List[str]] = {}
for cid, cam in cams.items():
for mid in cam["markers"]:
marker_cams.setdefault(mid, []).append(cid)
markers_out = []
for mid, cam_ids in sorted(marker_cams.items()):
if len(cam_ids) < args.minCams:
continue
corners3d, ok = [], True
for ci in range(4):
obs = [(cams[c]["K"], cams[c]["D"], cams[c]["R"], cams[c]["t"], cams[c]["markers"][mid][ci])
for c in cam_ids]
X = triangulate_multiview(obs)
if not np.all(np.isfinite(X)):
ok = False
break
corners3d.append(X)
if not ok:
continue
corners3d = np.array(corners3d)
normal, center = corner_plane_normal(corners3d)
edge_mm = float(np.mean([np.linalg.norm(corners3d[(i + 1) % 4] - corners3d[i]) for i in range(4)]) * 1000.0)
markers_out.append({
"marker_id": int(mid),
"link": links.get(mid, "unknown"),
"position_m": [float(v) for v in center],
"position_mm": [float(v * 1000.0) for v in center],
"normal": [float(v) for v in normal],
"corners_m": [[float(v) for v in c] for c in corners3d],
"num_cameras": len(cam_ids),
"edge_length_mm": edge_mm,
})
out_path = args.out or os.path.join(args.evalDir, "aruco_marker_poses.json")
output = {
"schema_version": "1.0",
"stage": "corner_marker_poses",
"created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
"summary": {"num_cameras": len(cams), "num_markers": len(markers_out)},
"markers": markers_out,
}
json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2)
print(f"[INFO] {len(markers_out)} marker poses -> {out_path}")
if __name__ == "__main__":
main()