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Test object: bearing_block |
Sample pixels: 2 |
Mean reprojection error: 0.0128 px |
Median reprojection error: 0.0128 px |
Max reprojection error: 0.0144 px |
Std reprojection error: 0.0016 px |
95th percentile: 0.0143 px |
99th percentile: 0.0144 px |
Industrial standard: < 2.0 px [PASS - 0.0128px] |
High precision standard: < 0.5 px [PASS - 0.0128px] |
Sub-pixel precision: < 0.1 px [PASS - 0.0128px] |
6. BOP FORMAT COMPLIANCE |
-------------------------------------------------------------------------------- |
scene_camera.json: Present for all 20 objects [PASS] |
scene_gt.json: Present for all 20 objects [PASS] |
cam_K format: [fx, 0, cx, 0, fy, cy, 0, 0, 1] (row-major) [PASS] |
cam_R_m2c format: 3x3 rotation, row-major [PASS] |
cam_t_m2c format: 3x1 translation (mm) [PASS] |
depth_scale: 1.0 (depth PNG stores mm directly) [PASS] |
Coordinate system: OpenCV (Y-down, Z-forward) [PASS] |
R_m2c orthogonality: det(R) = 1.0 +/- 0.000001 [PASS] |
7. ROTATION MATRIX ORTHOGONALITY - ALL OBJECTS |
-------------------------------------------------------------------------------- |
Object det(R_m2c) |det-1| Orthogonal |
---------------------- ------------ ---------- ------------ |
bearing_block 0.999999 0.000001 PASS |
bearing_medium 1.000000 0.000000 PASS |
bearing_small 0.999999 0.000001 PASS |
connector_housing 1.000000 0.000000 PASS |
coupling 1.000000 0.000000 PASS |
flange 0.999999 0.000001 PASS |
flange_large 1.000001 0.000001 PASS |
flange_medium 1.000000 0.000000 PASS |
flange_small 1.000001 0.000001 PASS |
gear 1.000001 0.000001 PASS |
gear_large 1.000000 0.000000 PASS |
gear_medium 1.000000 0.000000 PASS |
gear_small 0.999999 0.000001 PASS |
heat_sink 1.000000 0.000000 PASS |
hex_bolt 0.999999 0.000001 PASS |
l_bracket 1.000001 0.000001 PASS |
mounting_plate 1.000000 0.000000 PASS |
pipe_tee 1.000000 0.000000 PASS |
step_shaft 0.999999 0.000001 PASS |
valve_body 1.000000 0.000000 PASS |
8. PER-FRAME DEPTH DETAIL (bearing_block) |
-------------------------------------------------------------------------------- |
Frame fx fy ds min(mm) max(mm) mean(mm) pixels |
------ ---------- ---------- ----- ---------- ---------- ---------- -------- |
1 719.666 719.666 1 770 801 782.4 1728 |
2 742.391 742.391 1 765 820 788.8 2493 |
3 759.846 759.846 1 776 820 790.7 2513 |
4 760.179 760.179 1 767 821 790.6 2610 |
5 697.457 697.457 1 767 826 778.8 1323 |
6 731.412 731.412 1 766 817 786.4 1980 |
7 734.930 734.930 1 774 820 790.2 2228 |
8 705.972 705.972 1 768 821 791.2 2352 |
9 704.743 704.743 1 764 826 785.9 1956 |
10 758.527 758.527 1 769 824 785.2 2159 |
9. DATA COMPLETENESS - ALL OBJECTS |
-------------------------------------------------------------------------------- |
Object RGB Depth Mask Inst YOLO COCO-S COCO-I BOP-C BOP-G |
---------------------- ---- ------ ----- ----- ----- ------ ------ ----- ----- |
bearing_block 10 10 10 10 21 Y Y Y Y |
bearing_medium 10 10 10 10 21 Y Y Y Y |
bearing_small 10 10 10 10 21 Y Y Y Y |
connector_housing 10 10 10 10 21 Y Y Y Y |
coupling 10 10 10 10 21 Y Y Y Y |
flange 10 10 10 10 21 Y Y Y Y |
flange_large 10 10 10 10 21 Y Y Y Y |
flange_medium 10 10 10 10 21 Y Y Y Y |
flange_small 10 10 10 10 21 Y Y Y Y |
gear 10 10 10 10 21 Y Y Y Y |
gear_large 10 10 10 10 21 Y Y Y Y |
gear_medium 10 10 10 10 21 Y Y Y Y |
gear_small 10 10 10 10 21 Y Y Y Y |
heat_sink 10 10 10 10 21 Y Y Y Y |
hex_bolt 10 10 10 10 21 Y Y Y Y |
l_bracket 10 10 10 10 21 Y Y Y Y |
mounting_plate 10 10 10 10 21 Y Y Y Y |
pipe_tee 10 10 10 10 21 Y Y Y Y |
step_shaft 10 10 10 10 21 Y Y Y Y |
valve_body 10 10 10 10 21 Y Y Y Y |
TOTAL 200 200 200 200 420 |
================================================================================ |
VERIFICATION SUMMARY |
================================================================================ |
[PASS] Camera intrinsics: fx == fy (square pixel), cx=400, cy=300 |
[PASS] BOP depth_scale: 1.0 (depth PNG stores mm directly) |
[PASS] Depth range: 730-844mm (industrial inspection range) |
[PASS] Depth-camera consistency: mean depth ~ camera distance (800mm) |
[PASS] Reprojection error: 0.0144px (sub-pixel, far below 2.0px standard) |
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