Homing Marker Rotation
This commit is contained in:
chk
36
test/homing/20260616_133151/aruco_marker_poses.csv
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36
test/homing/20260616_133151/aruco_marker_poses.csv
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marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
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47,Board,A0,3,344.07,-286.3,-27.25,-0.00046,0.04835,0.99883,344.23,-286.54,-27.3,0.29,0.049,23.64
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48,Board,A0,2,689.52,-321.32,-28.55,0.01818,0.02703,0.99947,688.69,-320.72,-27.3,1.616,-1.254,23.78
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50,Board,A0,2,571.33,211.68,-25.85,0.00822,0.04745,0.99884,573.41,211.86,-27.3,2.541,1.448,23.82
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54,Board,A0,3,342.21,-330.38,-27.07,-0.0045,-0.03292,0.99945,342.27,-330.59,-27.3,0.316,0.232,23.88
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55,Board,A0,2,283.85,-262.4,-26.76,-0.01527,0.02358,0.99961,283.72,-262.58,-27.3,0.584,0.539,23.51
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56,Board,A0,2,497.11,168.6,-25.78,-0.01905,0.05595,0.99825,498.68,168.67,-27.3,2.185,1.521,23.56
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57,Board,A0,2,601.71,-363.5,-26.19,0.08577,0.00861,0.99628,602.86,-364.05,-27.3,1.694,1.114,24.87
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62,Board,A0,2,403.89,-175.17,-26.78,0.05288,0.02731,0.99823,404.7,-175.1,-27.3,0.961,0.516,23.82
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65,Board,A0,2,804.08,-298.54,-28.26,0.00387,0.04132,0.99914,803.39,-297.37,-27.3,1.663,-0.96,23.39
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68,Board,A0,2,571.76,170.66,-26.3,-0.02368,0.08555,0.99605,573.73,170.64,-27.3,2.214,1.002,23.99
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71,Board,A0,2,749.94,-284.72,-27.83,-0.01828,-0.03647,0.99917,749.75,-284.01,-27.3,0.907,-0.531,23.66
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76,Board,A0,2,682.81,166.72,-25.42,-0.05902,0.09056,0.99414,685.21,166.8,-27.3,3.051,1.881,23.55
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78,Board,A0,2,823.93,-345.77,-28.33,-0.08861,0.04663,0.99497,823.11,-344.38,-27.3,1.915,-1.026,22.6
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80,Board,A0,2,865.26,-337.13,-28.53,0.04092,0.04275,0.99825,863.59,-335.92,-27.3,2.401,-1.232,23.61
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87,Board,A0,2,944.69,-246.96,-28.14,0.02302,0.04013,0.99893,943.63,-245.76,-27.3,1.81,-0.837,23.78
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93,Board,A0,2,932.11,143.72,-23.95,0.06718,0.06443,0.99566,934.88,143.6,-27.3,4.343,3.346,25.06
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94,Board,A0,2,873.49,174.05,-24.98,0.05325,0.0697,0.99615,875.7,173.65,-27.3,3.229,2.323,24.42
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96,Board,A0,2,369.02,-186.37,-26.89,-0.04231,0.05761,0.99744,369.77,-186.49,-27.3,0.864,0.406,23.31
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97,Board,A0,3,304.13,-359.31,-26.85,0.04194,0.01906,0.99894,304.35,-359.67,-27.3,0.616,0.45,23.99
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99,Board,A0,2,961.74,-323.22,-29.1,0.04681,0.01859,0.99873,959.16,-321.55,-27.3,3.561,-1.797,24.0
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129,Ellbow,,3,393.47,-110.57,207.56,0.00825,0.0056,0.99995,,,,,,23.63
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132,Ellbow,,3,356.94,-110.62,208.02,0.00671,0.01225,0.9999,,,,,,24.03
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143,Arm2,,3,371.09,-292.28,195.24,-0.70987,-0.0132,0.70421,,,,,,24.23
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144,Arm2,,3,359.12,-222.05,171.29,-0.99909,0.03674,0.02153,,,,,,24.42
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146,Arm2,,3,370.78,-222.38,195.96,-0.66898,-0.00514,0.74326,,,,,,24.13
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148,Arm2,,3,360.2,-328.6,169.11,-0.99937,0.02225,0.02756,,,,,,24.15
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198,Arm1,,2,300.76,-14.03,160.54,0.02386,0.50667,0.86181,,,,,,24.53
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205,unknown,,2,934.74,-97.18,-5.56,-0.00513,0.04577,0.99894,,,,,,23.15
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207,unknown,,2,933.91,-7.47,-5.45,-0.07244,0.04588,0.99632,,,,,,21.75
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229,Arm1,,2,303.05,-92.5,205.63,0.01472,0.48131,0.87642,,,,,,24.21
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camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
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cam0,-162.87,22.94,405.51,0.8496,-0.39087,-0.35411
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cam1,-231.98,-599.98,855.31,0.51773,0.43658,-0.73577
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cam2,1.29,141.6,837.2,0.63268,-0.31236,-0.70863
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1387
test/homing/20260616_133151/aruco_marker_poses.json
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1387
test/homing/20260616_133151/aruco_marker_poses.json
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test/homing/20260616_133151/cam0.jpg
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test/homing/20260616_133151/cam0.jpg
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2431
test/homing/20260616_133151/cam0_aruco_detection.json
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2431
test/homing/20260616_133151/cam0_aruco_detection.json
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313
test/homing/20260616_133151/cam0_camera_pose.json
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313
test/homing/20260616_133151/cam0_camera_pose.json
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{
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"schema_version": "1.0",
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"created_utc": "2026-06-16T13:31:56Z",
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"source": {
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"detection_json": "/app/data/homing/20260616_133151/cam0_aruco_detection.json",
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"robot_json": "/app/scripts/robot_1781069752019.json"
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},
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"camera": {
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"camera_id": "cam0",
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"camera_matrix": [
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"distortion_coefficients": [
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"estimation": {
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"method": "single_camera_marker_center_lm",
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"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
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"marker_size_m": 0.025,
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"num_used_markers": 8,
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test/homing/20260616_133151/cam0_debug.jpg
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test/homing/20260616_133151/cam1.jpg
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test/homing/20260616_133151/cam1.jpg
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test/homing/20260616_133151/cam1_aruco_detection.json
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test/homing/20260616_133151/cam1_aruco_detection.json
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test/homing/20260616_133151/cam1_camera_pose.json
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test/homing/20260616_133151/cam1_camera_pose.json
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{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-16T13:32:00Z",
|
||||
"source": {
|
||||
"detection_json": "/app/data/homing/20260616_133151/cam1_aruco_detection.json",
|
||||
"robot_json": "/app/scripts/robot_1781069752019.json"
|
||||
},
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||||
"camera": {
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||||
BIN
test/homing/20260616_133151/cam1_debug.jpg
Normal file
BIN
test/homing/20260616_133151/cam1_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 214 KiB |
BIN
test/homing/20260616_133151/cam2.jpg
Normal file
BIN
test/homing/20260616_133151/cam2.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 278 KiB |
3356
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3356
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Normal file
File diff suppressed because it is too large
Load Diff
649
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Normal file
649
test/homing/20260616_133151/cam2_camera_pose.json
Normal file
@@ -0,0 +1,649 @@
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||||
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BIN
test/homing/20260616_133151/cam2_debug.jpg
Normal file
BIN
test/homing/20260616_133151/cam2_debug.jpg
Normal file
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40
test/homing/20260616_133151/state_Arm1.json
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101
test/homing/20260616_133151/state_Arm2.json
Normal file
101
test/homing/20260616_133151/state_Arm2.json
Normal file
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64
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Normal file
64
test/homing/20260616_133151/state_Ellbow.json
Normal file
@@ -0,0 +1,64 @@
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38
test/homing/20260616_135403/aruco_marker_poses.csv
Normal file
38
test/homing/20260616_135403/aruco_marker_poses.csv
Normal file
@@ -0,0 +1,38 @@
|
||||
marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
|
||||
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||||
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||||
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||||
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||||
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||||
97,Board,A0,3,304.1,-359.23,-26.58,0.04968,-0.00156,0.99876,304.35,-359.67,-27.3,0.876,0.718,24.07
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||||
98,Board,A0,2,572.36,314.55,-25.25,0.02528,0.07501,0.99686,575.27,315.06,-27.3,3.592,2.046,23.83
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121,Ellbow,,2,390.15,-69.52,242.3,0.03439,0.41089,0.91104,,,,,,24.28
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||||
|
||||
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
|
||||
cam0,-163.33,21.56,407.19,0.84979,-0.38898,-0.35573
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|
||||
|
1475
test/homing/20260616_135403/aruco_marker_poses.json
Normal file
1475
test/homing/20260616_135403/aruco_marker_poses.json
Normal file
File diff suppressed because it is too large
Load Diff
BIN
test/homing/20260616_135403/cam0.jpg
Normal file
BIN
test/homing/20260616_135403/cam0.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 78 KiB |
2252
test/homing/20260616_135403/cam0_aruco_detection.json
Normal file
2252
test/homing/20260616_135403/cam0_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
341
test/homing/20260616_135403/cam0_camera_pose.json
Normal file
341
test/homing/20260616_135403/cam0_camera_pose.json
Normal file
@@ -0,0 +1,341 @@
|
||||
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||||
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||||
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||||
BIN
test/homing/20260616_135403/cam0_debug.jpg
Normal file
BIN
test/homing/20260616_135403/cam0_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 188 KiB |
BIN
test/homing/20260616_135403/cam1.jpg
Normal file
BIN
test/homing/20260616_135403/cam1.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 79 KiB |
2944
test/homing/20260616_135403/cam1_aruco_detection.json
Normal file
2944
test/homing/20260616_135403/cam1_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
635
test/homing/20260616_135403/cam1_camera_pose.json
Normal file
635
test/homing/20260616_135403/cam1_camera_pose.json
Normal file
@@ -0,0 +1,635 @@
|
||||
{
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||||
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|
||||
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||||
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||||
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|
||||
BIN
test/homing/20260616_135403/cam1_debug.jpg
Normal file
BIN
test/homing/20260616_135403/cam1_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 213 KiB |
BIN
test/homing/20260616_135403/cam2.jpg
Normal file
BIN
test/homing/20260616_135403/cam2.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 276 KiB |
3289
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3289
test/homing/20260616_135403/cam2_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
649
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Normal file
649
test/homing/20260616_135403/cam2_camera_pose.json
Normal file
@@ -0,0 +1,649 @@
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||||
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BIN
test/homing/20260616_135403/cam2_debug.jpg
Normal file
BIN
test/homing/20260616_135403/cam2_debug.jpg
Normal file
Binary file not shown.
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After Width: | Height: | Size: 450 KiB |
40
test/homing/20260616_135403/state_Arm1.json
Normal file
40
test/homing/20260616_135403/state_Arm1.json
Normal file
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101
test/homing/20260616_135403/state_Arm2.json
Normal file
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Normal file
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64
test/homing/20260616_135403/state_Ellbow.json
Normal file
64
test/homing/20260616_135403/state_Ellbow.json
Normal file
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||||
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||||
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|
||||
Reference in New Issue
Block a user