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Huhb3D Industrial-Grade Precision Test Report |
Generated: 2026-05-31 13:38:02 |
Dataset: sell_Huhb3D-Test-Precision-v4 |
================================================================================ |
1. RENDERING CONFIGURATION |
-------------------------------------------------------------------------------- |
Camera radius: 800.0 mm (0.80 m) |
Near plane: 40.0 mm (0.0400 m) |
Far plane: 16000 mm (16.0 m) |
Near/Far ratio: 400:1 |
Image resolution: 800 x 600 |
FOV: 45.0 deg (with per-frame jitter) |
Model unit: mm |
Depth format: 16-bit PNG (uint16), depth_scale=1.0 |
Coordinate system: OpenCV convention (Y-down, Z-forward) |
2. CAMERA INTRINSICS VERIFICATION |
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Reference (no jitter): fx=724.264, fy=724.264 |
Principal point: cx=400.0, cy=300.0 |
Object fx fy fx-fy cx cy FOV(deg) |
---------------------- ---------- ---------- ------------ -------- -------- ---------- |
bearing_block 719.666 719.666 0.000000 400.0 300.0 45.26 |
bearing_medium 691.119 691.119 0.000000 400.0 300.0 46.93 |
bearing_small 719.665 719.665 0.000000 400.0 300.0 45.26 |
connector_housing 735.197 735.197 0.000000 400.0 300.0 44.40 |
coupling 761.032 761.032 0.000000 400.0 300.0 43.03 |
flange 761.267 761.267 0.000000 400.0 300.0 43.02 |
flange_large 723.678 723.678 0.000000 400.0 300.0 45.03 |
flange_medium 749.426 749.426 0.000000 400.0 300.0 43.63 |
flange_small 744.253 744.253 0.000000 400.0 300.0 43.91 |
gear 695.375 695.375 0.000000 400.0 300.0 46.67 |
gear_large 720.628 720.628 0.000000 400.0 300.0 45.20 |
gear_medium 750.271 750.271 0.000000 400.0 300.0 43.59 |
gear_small 696.837 696.837 0.000000 400.0 300.0 46.59 |
heat_sink 715.756 715.756 0.000000 400.0 300.0 45.48 |
hex_bolt 734.028 734.028 0.000000 400.0 300.0 44.46 |
l_bracket 696.198 696.198 0.000000 400.0 300.0 46.62 |
mounting_plate 697.299 697.299 0.000000 400.0 300.0 46.56 |
pipe_tee 758.191 758.191 0.000000 400.0 300.0 43.18 |
step_shaft 706.606 706.606 0.000000 400.0 300.0 46.01 |
valve_body 698.042 698.042 0.000000 400.0 300.0 46.51 |
Result: ALL objects have fx == fy (square pixel), cx=400.0, cy=300.0 [PASS] |
3. DEPTH MAP PRECISION - PER OBJECT |
-------------------------------------------------------------------------------- |
Object min(mm) max(mm) mean(mm) range(mm) cam_dist(mm) |
---------------------- ---------- ---------- ---------- ---------- ------------- |
bearing_block 770 801 782.4 31 800.0 |
bearing_medium 770 803 782.6 33 800.0 |
bearing_small 779 801 787.1 22 800.0 |
connector_housing 778 805 789.2 27 800.6 |
coupling 775 796 780.4 21 800.4 |
flange 750 795 769.3 45 800.1 |
flange_large 730 795 753.9 65 800.2 |
flange_medium 750 797 769.2 47 800.2 |
flange_small 765 812 778.8 47 799.7 |
gear 773 797 783.1 24 800.1 |
gear_large 752 794 768.5 42 800.2 |
gear_medium 773 796 783.2 23 800.1 |
gear_small 782 810 789.8 28 800.1 |
heat_sink 754 844 812.2 90 794.7 |
hex_bolt 791 799 795.7 8 800.3 |
l_bracket 784 812 795.5 28 801.8 |
mounting_plate 745 806 764.6 61 800.0 |
pipe_tee 776 811 783.4 35 796.4 |
step_shaft 780 797 787.6 17 800.8 |
valve_body 759 838 783.5 79 800.2 |
Industrial range check: ALL objects within 500-2000mm [PASS] |
Depth-camera consistency: mean depth ~ camera distance [PASS] |
4. DEPTH FORMULA VERIFICATION - z_buf to Linear Depth Mapping |
-------------------------------------------------------------------------------- |
Formula: depth = (near * far) / (far - z_buf * (far - near)) |
Parameters: near=40.0mm, far=16000mm |
z_buf depth(mm) depth(m) Note |
-------- ------------ ------------ ------------------------------ |
0.001 40.04 0.040040 Near plane boundary |
0.010 40.40 0.040403 Very close to camera |
0.050 42.10 0.042100 Close range |
0.100 44.43 0.044432 Near range |
0.200 49.97 0.049969 Near-mid range |
0.300 57.08 0.057082 Mid-near range |
0.500 79.80 0.079800 Mid buffer (half z-range) |
0.700 132.56 0.132560 Mid-far range |
0.900 391.20 0.391198 Far range |
0.950 763.72 0.763723 Very far range |
0.990 3206.41 3.206413 Near far plane |
Key finding: At z_buf=0.95, depth=763.72mm (0.764m) |
This matches the actual rendered depth range of 730-844mm |
Objects occupy z_buf range ~0.94-0.96 in the depth buffer |
5. 6DoF POSE GROUND TRUTH - REPROJECTION ERROR |
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