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Homing Marker Rotation

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chk
2026-06-16 16:01:32 +02:00
parent f929c19f4b
commit 08d1c21d1e
37 changed files with 23960 additions and 9 deletions
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36
test/homing/20260616_133151/aruco_marker_poses.csv Normal file
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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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
129,Ellbow,,3,393.47,-110.57,207.56,0.00825,0.0056,0.99995,,,,,,23.63
132,Ellbow,,3,356.94,-110.62,208.02,0.00671,0.01225,0.9999,,,,,,24.03
143,Arm2,,3,371.09,-292.28,195.24,-0.70987,-0.0132,0.70421,,,,,,24.23
144,Arm2,,3,359.12,-222.05,171.29,-0.99909,0.03674,0.02153,,,,,,24.42
146,Arm2,,3,370.78,-222.38,195.96,-0.66898,-0.00514,0.74326,,,,,,24.13
148,Arm2,,3,360.2,-328.6,169.11,-0.99937,0.02225,0.02756,,,,,,24.15
198,Arm1,,2,300.76,-14.03,160.54,0.02386,0.50667,0.86181,,,,,,24.53
205,unknown,,2,934.74,-97.18,-5.56,-0.00513,0.04577,0.99894,,,,,,23.15
207,unknown,,2,933.91,-7.47,-5.45,-0.07244,0.04588,0.99632,,,,,,21.75
229,Arm1,,2,303.05,-92.5,205.63,0.01472,0.48131,0.87642,,,,,,24.21
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
cam0,-162.87,22.94,405.51,0.8496,-0.39087,-0.35411
cam1,-231.98,-599.98,855.31,0.51773,0.43658,-0.73577
cam2,1.29,141.6,837.2,0.63268,-0.31236,-0.70863
1 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
2 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
3 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
4 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
5 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
6 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
7 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
8 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
9 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
10 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
11 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
12 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
13 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
14 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
15 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
16 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
17 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
18 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
19 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
20 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
21 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
22 129 Ellbow 3 393.47 -110.57 207.56 0.00825 0.0056 0.99995 23.63
23 132 Ellbow 3 356.94 -110.62 208.02 0.00671 0.01225 0.9999 24.03
24 143 Arm2 3 371.09 -292.28 195.24 -0.70987 -0.0132 0.70421 24.23
25 144 Arm2 3 359.12 -222.05 171.29 -0.99909 0.03674 0.02153 24.42
26 146 Arm2 3 370.78 -222.38 195.96 -0.66898 -0.00514 0.74326 24.13
27 148 Arm2 3 360.2 -328.6 169.11 -0.99937 0.02225 0.02756 24.15
28 198 Arm1 2 300.76 -14.03 160.54 0.02386 0.50667 0.86181 24.53
29 205 unknown 2 934.74 -97.18 -5.56 -0.00513 0.04577 0.99894 23.15
30 207 unknown 2 933.91 -7.47 -5.45 -0.07244 0.04588 0.99632 21.75
31 229 Arm1 2 303.05 -92.5 205.63 0.01472 0.48131 0.87642 24.21
32 camera_id x_mm y_mm z_mm dir_x dir_y dir_z
33 cam0 -162.87 22.94 405.51 0.8496 -0.39087 -0.35411
34 cam1 -231.98 -599.98 855.31 0.51773 0.43658 -0.73577
35 cam2 1.29 141.6 837.2 0.63268 -0.31236 -0.70863