Multipoint zurück
This commit is contained in:
chk
49
data/homing/20260625_172504/aruco_marker_poses.csv
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49
data/homing/20260625_172504/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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0,unknown,,2,505.2,-100.88,-7.16,0.02189,0.03624,0.9991,,,,,,24.24
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46,Board,A0,2,537.83,185.51,-27.88,-0.08568,-0.05354,0.99488,537.44,185.2,-27.2,0.841,-0.679,23.2
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47,Board,A0,2,343.18,-286.29,-27.16,-0.03123,0.01004,0.99946,343.18,-286.05,-27.49,0.407,0.326,24.03
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50,Board,A0,2,574.07,210.38,-26.23,-0.00073,0.03209,0.99948,574.23,211.48,-27.15,1.448,0.925,24.06
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51,Board,A0,2,166.73,-171.08,-27.09,-0.03386,0.01172,0.99936,167.18,-170.93,-27.76,0.818,0.667,24.31
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53,Board,A0,2,487.37,212.32,-27.38,-0.07361,-0.01564,0.99716,487.08,212.19,-27.28,0.33,-0.103,23.53
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54,Board,A0,3,341.07,-330.3,-27.22,-0.03362,0.04017,0.99863,341.05,-330.09,-27.5,0.351,0.28,24.36
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55,Arm1,A0,2,282.65,-261.75,-26.65,-0.05274,0.01696,0.99846,,,,,,24.32
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58,Board,A0,2,48.62,-216.5,-27.86,-0.00162,-0.0094,0.99995,49.3,-216.52,-27.93,0.684,0.068,24.24
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62,Board,A0,3,404.15,-174.92,-26.96,0.01614,-0.01502,0.99976,404.07,-174.84,-27.4,0.454,0.439,23.97
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64,Board,A0,2,-22.59,-186.68,-26.97,-0.00648,0.01133,0.99991,-21.95,-186.37,-28.04,1.286,1.074,24.24
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66,Board,A0,2,208.51,-363.21,-27.64,-0.04961,0.03216,0.99825,208.41,-362.24,-27.7,0.98,0.055,24.38
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68,Board,A0,2,574.39,169.06,-26.11,-0.00044,0.05167,0.99866,574.4,170.26,-27.15,1.591,1.04,24.52
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73,Board,A0,2,221.97,337.22,-30.29,-0.05172,0.1462,0.9879,223.01,334.05,-27.67,4.242,-2.621,26.49
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76,Board,A0,2,686.21,165.02,-27.13,-0.04548,-0.03114,0.99848,685.86,166,-26.98,1.054,-0.149,23.28
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79,Board,A0,2,311.51,-157.95,-27.04,0.05023,-0.04899,0.99754,311.73,-158.5,-27.54,0.776,0.496,23.36
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82,Board,A0,2,219.37,300.46,-29.79,0.00751,0.1232,0.99235,220.31,298.19,-27.68,3.238,-2.111,25.14
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85,Board,A0,3,503.91,-313.51,-27.06,0.00515,-0.00866,0.99995,503.43,-312.87,-27.25,0.816,0.191,24.1
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90,Board,A0,2,644.93,316.2,-28.16,-0.02384,-0.04569,0.99867,644.39,315.79,-27.04,1.307,-1.118,23.32
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91,Board,A0,2,725.49,327.85,-27.51,-0.02708,0.03694,0.99895,724.61,327.11,-26.92,1.289,-0.587,24.21
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92,Board,A0,2,644.7,-186.93,-25.55,-0.05883,-0.0185,0.9981,644.42,-185.49,-27.04,2.094,1.489,23.69
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95,Board,A0,3,184.77,-273.26,-27.61,-0.03697,0.01835,0.99915,185.04,-272.99,-27.73,0.401,0.121,24.34
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96,Board,A0,3,369.2,-185.74,-27.61,-0.04836,0.02152,0.9986,369.1,-186.1,-27.46,0.398,-0.148,24.06
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103,Board,A0,3,104.63,-186.32,-27.25,-0.01721,0.02455,0.99955,105.03,-186.33,-27.85,0.721,0.6,24.42
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105,Board,A0,3,524.3,-267.15,-27.08,-0.016,0.01938,0.99968,523.86,-266.44,-27.22,0.848,0.137,23.92
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118,unknown,,3,322.99,-174.22,47.16,0.02335,-0.99462,0.10089,,,,,,24.14
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122,Ellbow,,3,359.95,-173.78,46.07,0.00204,-0.99361,0.11286,,,,,,24.26
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143,Arm2,,2,340.07,-138.22,229.66,-0.72695,-0.68151,0.08421,,,,,,24.03
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144,Arm2,,3,362.93,-157.15,158.16,-0.05456,-0.9917,0.11642,,,,,,24.31
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146,Arm2,,2,337.31,-147.71,160.02,-0.68833,-0.72303,0.05854,,,,,,24.0
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147,FingerA,,3,383.25,-144.05,226.5,0.43778,-0.89607,0.07357,,,,,,23.85
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148,Arm2,,3,367.21,-142.91,264.34,-0.04936,-0.99586,0.07639,,,,,,24.28
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178,FingerB,,2,287.73,-121.4,315.33,-0.67179,-0.7215,-0.16775,,,,,,23.25
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179,FingerB,,2,329.15,-139.64,311.4,-0.61251,-0.17201,0.77152,,,,,,23.53
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198,Arm1,,2,268.53,-53.98,84.4,0.00864,0.01319,0.99988,,,,,,24.79
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200,unknown,,2,199.66,-28.82,110.04,-0.15134,-0.01695,0.98834,,,,,,23.71
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204,unknown,,2,198.48,115.43,120.91,0.03546,0.04428,0.99839,,,,,,24.17
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208,Board,rail,2,626.35,-98.62,-6.79,-0.00084,0.01537,0.99988,631.01,-98.43,-7.71,4.748,0.917,24.04
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210,Board,rail,2,129.9,-7.86,-5.67,0.06219,0.02253,0.99781,122.63,-13.98,-0.72,10.715,-4.946,23.24
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214,unknown,,2,531.62,-8.59,-6.83,-0.02922,0.04196,0.99869,,,,,,24.25
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217,Board,rail,2,730.01,-8.51,-5.0,-0.08513,-0.01438,0.99627,732.39,-23.88,7.39,19.881,-12.386,23.12
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229,Arm1,,3,271.17,-142.11,79.1,0.01062,-0.04516,0.99892,,,,,,23.94
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243,Arm1,,2,270.3,-176.61,43.73,0.02044,-0.9996,-0.01934,,,,,,24.13
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camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
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cam0,335.33,-885.66,468.37,-0.06588,0.89247,-0.44628
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cam1,296.81,-462.82,780.61,0.09503,0.4331,-0.89632
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cam2,712.91,-665.53,724.31,-0.42887,0.59445,-0.68022
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2002
data/homing/20260625_172504/aruco_marker_poses.json
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2002
data/homing/20260625_172504/aruco_marker_poses.json
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data/homing/20260625_172504/cam0.jpg
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data/homing/20260625_172504/cam0.jpg
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2645
data/homing/20260625_172504/cam0_aruco_detection.json
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2645
data/homing/20260625_172504/cam0_aruco_detection.json
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481
data/homing/20260625_172504/cam0_camera_pose.json
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481
data/homing/20260625_172504/cam0_camera_pose.json
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{
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"schema_version": "1.0",
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"created_utc": "2026-06-25T17:25:09Z",
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"source": {
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"detection_json": "/app/data/homing/20260625_172504/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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[
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1424.7584228515625,
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0.0,
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635.95947265625
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],
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[
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0.0,
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1421.5770263671875,
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482.1744384765625
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],
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[
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0.0,
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0.0,
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1.0
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]
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],
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"distortion_coefficients": [
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0.05634751915931702,
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0.33765655755996704,
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0.002130246954038739,
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-0.004022662527859211,
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-1.182201862335205
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]
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},
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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": 20,
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"used_marker_ids": [
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97,
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66,
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85,
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54,
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105,
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69,
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47,
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95,
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58,
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64,
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103,
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62,
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96,
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208,
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51,
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79,
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210,
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68,
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50,
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91
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],
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"history": {
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"iters": [
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0,
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1,
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2,
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3
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],
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"rms": [
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||||||
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0.011403454671871994,
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0.001728926659833975,
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0.0016691755968926973,
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0.0016691753847773315
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],
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"lambda": [
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0.001,
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0.0005,
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0.00025,
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0.000125
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]
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},
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"residual_rms_px": 3.4096867660331136,
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"residual_median_px": 1.5691231791727809,
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"residual_max_px": 12.026369061549262,
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"sigma2_normalized": 3.2778193707572165e-06
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},
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"camera_pose": {
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"world_to_camera": {
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"rotation_matrix": [
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[
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0.9973888397216797,
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0.04563671350479126,
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-0.05597161129117012
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],
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[
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],
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[
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0.8924656510353088,
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-0.4462788999080658
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]
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],
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"translation_m": [
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-0.2678244411945343,
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0.030760858207941055,
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1.0215346813201904
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],
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"rvec_rad": [
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2.0344335845398724,
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0.011289329253343375,
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-0.08570511152514877
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]
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},
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"camera_in_world": {
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"position_m": [
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0.33533409237861633,
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-0.885656476020813,
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0.4683726131916046
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],
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"position_mm": [
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335.3341064453125,
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-885.656494140625,
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468.37261962890625
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],
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"orientation_deg": {
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"roll": 116.56741333007812,
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"pitch": 3.777391195297241,
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"yaw": -1.6990946531295776
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}
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},
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"uncertainty": {
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"pose_covariance_6x6": [
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[
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9.702707532310775e-06,
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1.2273484057683694e-06,
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3.575388647845507e-06,
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-1.2199370555784652e-07,
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-2.1440042443296295e-06,
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1.039618282302021e-07
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],
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[
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||||||
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1.22734840576837e-06,
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3.358446334387221e-06,
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||||||
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1.8878909236797321e-07,
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4.651297819399596e-07,
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-8.835069052569738e-07,
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||||||
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6.206962238461149e-07
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],
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[
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||||||
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3.5753886478454758e-06,
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|
1.8878909236796024e-07,
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1.143731789507973e-05,
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-7.216885572151019e-07,
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],
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[
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2.2942348340442282e-07,
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3.6332485943604063e-08,
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3.2363949947789566e-07
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],
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[
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3.633248594360388e-08,
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9.86494679764419e-07,
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6.579597825341255e-07
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],
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[
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1.039618282302198e-07,
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6.206962238461218e-07,
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3.2363949947789524e-07,
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6.579597825341204e-07,
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2.970696318843356e-06
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]
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],
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"parameter_std": {
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"rvec_std_deg": [
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|
0.1784715940965861,
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0.10500061405868079,
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],
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"tvec_std_m": [
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|
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0.0009932243854056438,
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0.0017235708047084566
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]
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},
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"camera_center_std_m": [
|
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|
0.0024386451901829424,
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||||||
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0.0013863680263389562,
|
||||||
|
0.002737631446074117
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||||||
|
],
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||||||
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"camera_center_std_mm": [
|
||||||
|
2.4386451901829425,
|
||||||
|
1.3863680263389562,
|
||||||
|
2.7376314460741167
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||||||
|
],
|
||||||
|
"orientation_std_deg": {
|
||||||
|
"roll": 0.19011944203297743,
|
||||||
|
"pitch": 0.14270986978198957,
|
||||||
|
"yaw": 0.1181609242753551
|
||||||
|
}
|
||||||
|
}
|
||||||
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},
|
||||||
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"observations": {
|
||||||
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"markers": [
|
||||||
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{
|
||||||
|
"marker_id": 97,
|
||||||
|
"observed_center_px": [
|
||||||
|
676.25,
|
||||||
|
910.5
|
||||||
|
],
|
||||||
|
"projected_center_px": [
|
||||||
|
675.9551391601562,
|
||||||
|
911.3131713867188
|
||||||
|
],
|
||||||
|
"reprojection_error_px": 0.8649801263910383,
|
||||||
|
"confidence": 0.42385670146087856
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_id": 66,
|
||||||
|
"observed_center_px": [
|
||||||
|
480.5,
|
||||||
|
921.0
|
||||||
|
],
|
||||||
|
"projected_center_px": [
|
||||||
|
480.5653381347656,
|
||||||
|
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BIN
data/homing/20260625_172504/cam0_debug.jpg
Normal file
BIN
data/homing/20260625_172504/cam0_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 209 KiB |
BIN
data/homing/20260625_172504/cam1.jpg
Normal file
BIN
data/homing/20260625_172504/cam1.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 108 KiB |
3662
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3662
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Normal file
File diff suppressed because it is too large
Load Diff
761
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Normal file
761
data/homing/20260625_172504/cam1_camera_pose.json
Normal file
@@ -0,0 +1,761 @@
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|||||||
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||||||
BIN
data/homing/20260625_172504/cam1_debug.jpg
Normal file
BIN
data/homing/20260625_172504/cam1_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 257 KiB |
BIN
data/homing/20260625_172504/cam2.jpg
Normal file
BIN
data/homing/20260625_172504/cam2.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 220 KiB |
2521
data/homing/20260625_172504/cam2_aruco_detection.json
Normal file
2521
data/homing/20260625_172504/cam2_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
495
data/homing/20260625_172504/cam2_camera_pose.json
Normal file
495
data/homing/20260625_172504/cam2_camera_pose.json
Normal file
@@ -0,0 +1,495 @@
|
|||||||
|
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||||||
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|
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||||||
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|
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BIN
data/homing/20260625_172504/cam2_debug.jpg
Normal file
BIN
data/homing/20260625_172504/cam2_debug.jpg
Normal file
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After Width: | Height: | Size: 353 KiB |
2487
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2487
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Normal file
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Load Diff
59
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Normal file
59
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Normal file
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105
data/homing/20260625_172504/state_Arm1.json
Normal file
105
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Normal file
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||||||
|
"baseline_model_mm": 89.99999999999997,
|
||||||
|
"baseline_obs_mm": 88.29072557685865,
|
||||||
|
"weight": 7946.165301917275
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
198,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -2.7040713039960176,
|
||||||
|
"baseline_model_mm": 129.8075498574717,
|
||||||
|
"baseline_obs_mm": 129.20056719980755,
|
||||||
|
"weight": 16771.209068402644
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
229,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -0.7105184107327543,
|
||||||
|
"baseline_model_mm": 49.49747468305837,
|
||||||
|
"baseline_obs_mm": 49.40955380679017,
|
||||||
|
"weight": 2445.6481386528067
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 106.50906842923364,
|
||||||
|
"y": 8.73396517409613
|
||||||
|
}
|
||||||
|
}
|
||||||
101
data/homing/20260625_172504/state_Arm2.json
Normal file
101
data/homing/20260625_172504/state_Arm2.json
Normal file
@@ -0,0 +1,101 @@
|
|||||||
|
{
|
||||||
|
"status": "ok",
|
||||||
|
"link": "Arm2",
|
||||||
|
"joint": "a",
|
||||||
|
"method": "primary",
|
||||||
|
"joint_origin_world_mm": [
|
||||||
|
306.50906842923365,
|
||||||
|
-138.70421127250364,
|
||||||
|
84.27799422070137
|
||||||
|
],
|
||||||
|
"joint_axis_world": [
|
||||||
|
0.0,
|
||||||
|
0.13361549880725562,
|
||||||
|
0.9910332479177922
|
||||||
|
],
|
||||||
|
"mean_angle_deg": 93.37084948672933,
|
||||||
|
"circular_variance": 0.0007324693649812808,
|
||||||
|
"circular_std_deg": 2.193370075603702,
|
||||||
|
"num_pairs_used": 4,
|
||||||
|
"num_markers_matched": 4,
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
144
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 89.94688841244773,
|
||||||
|
"baseline_model_mm": 26.68445427585132,
|
||||||
|
"baseline_obs_mm": 24.643765187064083,
|
||||||
|
"weight": 657.6054253190281
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
146
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": true,
|
||||||
|
"reason": "bl_model=0.3 bl_obs=2.8 < 15.0"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 93.80406057538599,
|
||||||
|
"baseline_model_mm": 26.836171485515575,
|
||||||
|
"baseline_obs_mm": 28.679452701596173,
|
||||||
|
"weight": 769.6467108107678
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
144,
|
||||||
|
146
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 92.82624404009415,
|
||||||
|
"baseline_model_mm": 26.791733799812224,
|
||||||
|
"baseline_obs_mm": 27.197454261300408,
|
||||||
|
"weight": 728.6669546013292
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
144,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": true,
|
||||||
|
"reason": "bl_model=0.4 bl_obs=4.3 < 15.0"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
146,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 96.11666161271195,
|
||||||
|
"baseline_model_mm": 26.946706663338293,
|
||||||
|
"baseline_obs_mm": 31.282017166008377,
|
||||||
|
"weight": 842.9473404099408
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 106.50906842923364,
|
||||||
|
"y": 8.73396517409613,
|
||||||
|
"z": 88.94460334069886,
|
||||||
|
"a": 93.37084948672933
|
||||||
|
}
|
||||||
|
}
|
||||||
54
data/homing/20260625_172504/state_Ellbow.json
Normal file
54
data/homing/20260625_172504/state_Ellbow.json
Normal file
@@ -0,0 +1,54 @@
|
|||||||
|
{
|
||||||
|
"status": "ok",
|
||||||
|
"link": "Ellbow",
|
||||||
|
"joint": "z",
|
||||||
|
"method": "fallback_1_child_axis",
|
||||||
|
"joint_origin_world_mm": [
|
||||||
|
216.50906842923365,
|
||||||
|
-138.70421127250364,
|
||||||
|
84.27799422070137
|
||||||
|
],
|
||||||
|
"joint_axis_world": [
|
||||||
|
-1.0,
|
||||||
|
0.0,
|
||||||
|
0.0
|
||||||
|
],
|
||||||
|
"mean_angle_deg": 88.94460334069886,
|
||||||
|
"circular_variance": 5.079874864089007e-07,
|
||||||
|
"circular_std_deg": 0.05775162282873076,
|
||||||
|
"num_pairs_used": 2,
|
||||||
|
"num_markers_matched": 1,
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
146
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "fallback_1_child_axis",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 89.03275897168004,
|
||||||
|
"baseline_model_mm": 70.00000071428568,
|
||||||
|
"baseline_obs_mm": 70.28215356251216,
|
||||||
|
"weight": 4919.750799577387
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
144,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "fallback_1_child_axis",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 88.90676969215383,
|
||||||
|
"baseline_model_mm": 106.99999999999999,
|
||||||
|
"baseline_obs_mm": 107.1349128404376,
|
||||||
|
"weight": 11463.43567392682
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 106.50906842923364,
|
||||||
|
"y": 8.73396517409613,
|
||||||
|
"z": 88.94460334069886
|
||||||
|
}
|
||||||
|
}
|
||||||
61
data/homing/20260625_175916/aruco_marker_poses.csv
Normal file
61
data/homing/20260625_175916/aruco_marker_poses.csv
Normal file
@@ -0,0 +1,61 @@
|
|||||||
|
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
|
||||||
|
0,unknown,,3,505.79,-100.06,-8.17,0.00654,-0.01478,0.99987,,,,,,23.71
|
||||||
|
46,Board,A0,2,537.9,185.52,-27.5,0.0061,0.00117,0.99998,537.44,185.2,-27.2,0.638,-0.305,23.83
|
||||||
|
47,Board,A0,3,343.34,-286.18,-27.52,-0.00826,0.02432,0.99967,343.18,-286.05,-27.49,0.21,-0.034,24.1
|
||||||
|
50,Board,A0,3,574.64,211.77,-27.34,0.00242,0.0109,0.99994,574.23,211.48,-27.15,0.539,-0.186,24.07
|
||||||
|
51,Board,A0,3,166.89,-171.06,-27.49,-0.04142,0.00081,0.99914,167.18,-170.93,-27.76,0.417,0.272,24.2
|
||||||
|
53,Board,A0,3,487.16,212.93,-27.58,0.06677,0.02171,0.99753,487.08,212.19,-27.28,0.798,-0.296,23.92
|
||||||
|
54,Board,A0,3,341.31,-330.18,-27.55,-0.01014,0.01262,0.99987,341.05,-330.09,-27.5,0.275,-0.049,24.21
|
||||||
|
55,Arm1,A0,3,282.71,-261.9,-26.63,-0.03413,0.00638,0.9994,,,,,,24.37
|
||||||
|
56,Arm1,A0,2,500.02,169.42,-27.88,-0.01336,0.00216,0.99991,,,,,,23.7
|
||||||
|
58,Board,A0,3,48.69,-216.76,-27.87,-0.0193,0.00188,0.99981,49.3,-216.52,-27.93,0.658,0.059,24.44
|
||||||
|
60,Board,A0,2,435.69,286.11,-29.34,-0.04419,0.06927,0.99662,435.46,283.95,-27.36,2.937,-1.981,24.83
|
||||||
|
62,Board,A0,3,404.22,-174.75,-27.14,0.00893,-0.00881,0.99992,404.07,-174.84,-27.4,0.313,0.259,23.96
|
||||||
|
64,Board,A0,2,-22.33,-187.15,-26.56,0.02977,0.00062,0.99956,-21.95,-186.37,-28.04,1.719,1.484,23.66
|
||||||
|
66,Board,A0,2,207.97,-362.78,-28.65,-0.08,0.0928,0.99247,208.41,-362.24,-27.7,1.18,-0.951,25.14
|
||||||
|
67,Board,A0,2,524.61,268.02,-28.51,-0.0163,-0.00123,0.99987,524.1,266.85,-27.22,1.818,-1.29,23.6
|
||||||
|
68,Board,A0,3,575.05,170.15,-27.14,0.01722,0.03205,0.99934,574.4,170.26,-27.15,0.663,0.006,24.1
|
||||||
|
69,Board,A0,2,6.91,-280.99,-27.23,-0.00089,0.03112,0.99952,6.58,-279.46,-28,1.744,0.77,24.07
|
||||||
|
70,Board,A0,2,603.56,300.57,-28.34,-0.06715,0.04327,0.9968,603.03,299.84,-27.11,1.527,-1.233,23.99
|
||||||
|
73,Board,A0,2,222.01,337.1,-29.9,-0.0437,0.11256,0.99268,223.01,334.05,-27.67,3.914,-2.235,25.6
|
||||||
|
75,Board,A0,2,-27.07,199.16,-28.78,-0.06027,0.14192,0.98804,-24.94,196.46,-28.04,3.523,-0.736,26.71
|
||||||
|
76,Board,A0,2,686.17,164.68,-26.47,-0.08323,0.00998,0.99648,685.86,166,-26.98,1.45,0.514,23.85
|
||||||
|
77,Arm1,A0,2,17.53,194.86,-28.25,-0.02333,0.14876,0.9886,,,,,,26.07
|
||||||
|
79,Board,A0,2,311.53,-157.96,-26.95,0.02919,-0.01163,0.99951,311.73,-158.5,-27.54,0.827,0.59,24.03
|
||||||
|
82,Board,A0,2,219.4,300.84,-30.04,0.00365,0.102,0.99478,220.31,298.19,-27.68,3.663,-2.363,25.25
|
||||||
|
85,Board,A0,3,504.05,-313.36,-27.37,-0.00147,-0.03538,0.99937,503.43,-312.87,-27.25,0.799,-0.124,24.1
|
||||||
|
88,Board,A0,2,767.2,313.41,-25.61,0.05089,-0.00066,0.9987,767.09,314.94,-26.86,1.978,1.252,23.68
|
||||||
|
90,Board,A0,2,644.9,315.86,-27.76,-0.00476,-0.03483,0.99938,644.39,315.79,-27.04,0.882,-0.718,23.64
|
||||||
|
91,Board,A0,2,725.06,326.79,-26.9,-0.04318,-0.00677,0.99904,724.61,327.11,-26.92,0.553,0.023,23.76
|
||||||
|
92,Board,A0,2,644.97,-186.59,-26.03,0.03072,-0.01393,0.99943,644.42,-185.49,-27.04,1.592,1.007,24.18
|
||||||
|
94,Board,A0,2,875.22,168.95,-22.69,0.07264,0.05485,0.99585,876.38,172.13,-26.7,5.244,4.006,24.44
|
||||||
|
95,Board,A0,3,184.79,-273.16,-27.83,-0.00258,0.02727,0.99962,185.04,-272.99,-27.73,0.315,-0.097,24.35
|
||||||
|
96,Board,A0,3,369.18,-185.71,-27.51,0.02262,0.01808,0.99958,369.1,-186.1,-27.46,0.4,-0.049,24.16
|
||||||
|
97,Board,A0,2,303.36,-359.54,-26.35,-0.00502,0.02288,0.99973,303.02,-359.03,-27.55,1.344,1.197,24.46
|
||||||
|
98,Board,A0,2,577.15,315.74,-29.24,-0.02274,0.04433,0.99876,576.48,314.67,-27.15,2.445,-2.094,24.33
|
||||||
|
100,Board,A0,2,803.8,169.01,-24.93,0.01883,-0.01657,0.99969,803.92,171.12,-26.81,2.829,1.882,23.24
|
||||||
|
103,Board,A0,3,104.64,-186.37,-27.12,-0.00058,0.0069,0.99998,105.03,-186.33,-27.85,0.825,0.726,24.45
|
||||||
|
104,Board,A0,2,827.17,235.41,-24.77,0.08284,0.04199,0.99568,827.64,237.83,-26.77,3.174,1.996,24.77
|
||||||
|
105,Board,A0,3,524.5,-266.88,-27.45,-0.00083,0.01085,0.99994,523.86,-266.44,-27.22,0.811,-0.234,24.19
|
||||||
|
118,unknown,,3,323.07,-174.22,47.26,0.01395,-0.99423,0.10635,,,,,,24.41
|
||||||
|
122,Ellbow,,3,360.07,-173.45,46.18,0.01114,-0.99429,0.10615,,,,,,24.51
|
||||||
|
143,Arm2,,2,339.81,-138.06,229.48,-0.73183,-0.67663,0.08126,,,,,,24.18
|
||||||
|
144,Arm2,,3,362.95,-156.86,158.05,-0.03961,-0.99309,0.11048,,,,,,24.37
|
||||||
|
147,FingerA,,3,382.82,-143.67,226.6,0.42827,-0.9012,0.06646,,,,,,24.01
|
||||||
|
148,Arm2,,3,366.84,-142.43,264.66,-0.04437,-0.99493,0.09027,,,,,,24.39
|
||||||
|
178,FingerB,,2,287.31,-120.45,315.29,-0.66387,-0.73035,-0.1608,,,,,,22.88
|
||||||
|
179,FingerB,,2,329.61,-140.32,313.07,-0.6954,-0.15177,0.70241,,,,,,26.39
|
||||||
|
198,Arm1,,2,268.82,-53.79,84.52,0.01757,0.02587,0.99951,,,,,,24.56
|
||||||
|
200,unknown,,2,199.61,-28.62,110.03,-0.06794,-0.01026,0.99764,,,,,,23.25
|
||||||
|
204,unknown,,2,198.89,116.09,120.31,0.05577,0.03761,0.99774,,,,,,24.15
|
||||||
|
208,Board,rail,3,626.32,-98.56,-6.78,0.00383,-0.01334,0.9999,631.01,-98.43,-7.71,4.781,0.93,23.72
|
||||||
|
210,Board,rail,2,129.76,-7.26,-6.27,0.028,0.01002,0.99956,122.63,-13.98,-0.72,11.263,-5.553,23.35
|
||||||
|
214,unknown,,3,532.15,-7.88,-7.33,-0.02081,0.05531,0.99825,,,,,,24.05
|
||||||
|
217,Board,rail,2,730.24,-8.43,-5.0,-0.01833,-0.01881,0.99966,732.39,-23.88,7.39,19.917,-12.387,23.61
|
||||||
|
229,Arm1,,3,271.15,-142.19,79.27,0.01827,-0.03009,0.99938,,,,,,24.04
|
||||||
|
243,Arm1,,3,270.52,-175.76,42.77,0.0038,-0.99933,-0.03654,,,,,,24.16
|
||||||
|
|
||||||
|
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
|
||||||
|
cam0,335.07,-885.3,469.64,-0.06533,0.89189,-0.44751
|
||||||
|
cam1,297.15,-462.72,780.65,0.09465,0.43305,-0.89639
|
||||||
|
cam2,714.94,-666.29,727.22,-0.42921,0.59338,-0.68094
|
||||||
|
2542
data/homing/20260625_175916/aruco_marker_poses.json
Normal file
2542
data/homing/20260625_175916/aruco_marker_poses.json
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/homing/20260625_175916/cam0.jpg
Normal file
BIN
data/homing/20260625_175916/cam0.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 103 KiB |
2628
data/homing/20260625_175916/cam0_aruco_detection.json
Normal file
2628
data/homing/20260625_175916/cam0_aruco_detection.json
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File diff suppressed because it is too large
Load Diff
481
data/homing/20260625_175916/cam0_camera_pose.json
Normal file
481
data/homing/20260625_175916/cam0_camera_pose.json
Normal file
@@ -0,0 +1,481 @@
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BIN
data/homing/20260625_175916/cam0_debug.jpg
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BIN
data/homing/20260625_175916/cam0_debug.jpg
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|
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BIN
data/homing/20260625_175916/cam1.jpg
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BIN
data/homing/20260625_175916/cam1.jpg
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3558
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Normal file
File diff suppressed because it is too large
Load Diff
761
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Normal file
761
data/homing/20260625_175916/cam1_camera_pose.json
Normal file
@@ -0,0 +1,761 @@
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|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
BIN
data/homing/20260625_175916/cam1_debug.jpg
Normal file
BIN
data/homing/20260625_175916/cam1_debug.jpg
Normal file
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|
After Width: | Height: | Size: 260 KiB |
BIN
data/homing/20260625_175916/cam2.jpg
Normal file
BIN
data/homing/20260625_175916/cam2.jpg
Normal file
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|
After Width: | Height: | Size: 282 KiB |
3092
data/homing/20260625_175916/cam2_aruco_detection.json
Normal file
3092
data/homing/20260625_175916/cam2_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
761
data/homing/20260625_175916/cam2_camera_pose.json
Normal file
761
data/homing/20260625_175916/cam2_camera_pose.json
Normal file
@@ -0,0 +1,761 @@
|
|||||||
|
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|
||||||
|
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|
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|
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|
||||||
|
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|
||||||
|
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|
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|
||||||
|
"value": -80.56572105590129,
|
||||||
|
"unit": "deg",
|
||||||
|
"observable": true,
|
||||||
|
"confidence": "medium",
|
||||||
|
"n_markers": 3
|
||||||
|
},
|
||||||
|
"e": {
|
||||||
|
"value": 35.00722900692152,
|
||||||
|
"unit": "mm",
|
||||||
|
"observable": true,
|
||||||
|
"confidence": "medium",
|
||||||
|
"n_markers": 3
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"residual_rms": 33.572073291771,
|
||||||
|
"num_markers": 55
|
||||||
|
}
|
||||||
222
data/homing/20260625_175916/state_Arm1.json
Normal file
222
data/homing/20260625_175916/state_Arm1.json
Normal file
@@ -0,0 +1,222 @@
|
|||||||
|
{
|
||||||
|
"status": "ok",
|
||||||
|
"link": "Arm1",
|
||||||
|
"joint": "y",
|
||||||
|
"method": "primary",
|
||||||
|
"joint_origin_world_mm": [
|
||||||
|
154.64058080413625,
|
||||||
|
108.3154,
|
||||||
|
53.4964
|
||||||
|
],
|
||||||
|
"joint_axis_world": [
|
||||||
|
-1.0,
|
||||||
|
0.0,
|
||||||
|
0.0
|
||||||
|
],
|
||||||
|
"mean_angle_deg": 7.073578785211089,
|
||||||
|
"circular_variance": 0.007972526914742928,
|
||||||
|
"circular_std_deg": 7.249434372855015,
|
||||||
|
"num_pairs_used": 15,
|
||||||
|
"num_markers_matched": 6,
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
55,
|
||||||
|
56
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 0.20885786426191633,
|
||||||
|
"baseline_model_mm": 430.4301189508002,
|
||||||
|
"baseline_obs_mm": 431.321568455382,
|
||||||
|
"weight": 185653.79401629578
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
55,
|
||||||
|
77
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 0.1534985213298885,
|
||||||
|
"baseline_model_mm": 455.14017577005876,
|
||||||
|
"baseline_obs_mm": 456.76224811573417,
|
||||||
|
"weight": 207890.84989252244
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
55,
|
||||||
|
198
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 2.7294530137510984,
|
||||||
|
"baseline_model_mm": 120.70271952197267,
|
||||||
|
"baseline_obs_mm": 235.9270100140718,
|
||||||
|
"weight": 28477.031717386148
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
55,
|
||||||
|
229
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 36.070256539732,
|
||||||
|
"baseline_model_mm": 63.35571402801802,
|
||||||
|
"baseline_obs_mm": 159.8295466346313,
|
||||||
|
"weight": 10126.115049811471
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
55,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 89.62500483491822,
|
||||||
|
"baseline_model_mm": 34.32559540634365,
|
||||||
|
"baseline_obs_mm": 110.61945936866468,
|
||||||
|
"weight": 3797.0788063572545
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
56,
|
||||||
|
77
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -0.8278666326016993,
|
||||||
|
"baseline_model_mm": 24.720487454740837,
|
||||||
|
"baseline_obs_mm": 25.442346313142185,
|
||||||
|
"weight": 628.9472028532032
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
56,
|
||||||
|
198
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 16.060958275347453,
|
||||||
|
"baseline_model_mm": 332.5358726513577,
|
||||||
|
"baseline_obs_mm": 249.91702454137288,
|
||||||
|
"weight": 83106.37584629621
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
56,
|
||||||
|
229
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 10.575835506835253,
|
||||||
|
"baseline_model_mm": 421.3102260804976,
|
||||||
|
"baseline_obs_mm": 329.51739043275734,
|
||||||
|
"weight": 138829.0462606806
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
56,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 8.204562901697962,
|
||||||
|
"baseline_model_mm": 452.5694494770941,
|
||||||
|
"baseline_obs_mm": 352.3360154416916,
|
||||||
|
"weight": 159456.51653939928
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
77,
|
||||||
|
198
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 14.349880680055369,
|
||||||
|
"baseline_model_mm": 356.9731122927888,
|
||||||
|
"baseline_obs_mm": 273.03257450221435,
|
||||||
|
"weight": 97465.28787736819
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
77,
|
||||||
|
229
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 9.66556769141446,
|
||||||
|
"baseline_model_mm": 445.86971516352173,
|
||||||
|
"baseline_obs_mm": 353.78452354827397,
|
||||||
|
"weight": 157741.80474373116
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
77,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 7.573295647776105,
|
||||||
|
"baseline_model_mm": 477.27969043318825,
|
||||||
|
"baseline_obs_mm": 377.3635068156209,
|
||||||
|
"weight": 180107.93771374188
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
198,
|
||||||
|
229
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -3.397605318552869,
|
||||||
|
"baseline_model_mm": 90.00000000000003,
|
||||||
|
"baseline_obs_mm": 88.54992394070814,
|
||||||
|
"weight": 7969.493154663735
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
198,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -3.2531512518968957,
|
||||||
|
"baseline_model_mm": 129.8075498574717,
|
||||||
|
"baseline_obs_mm": 128.9115321451203,
|
||||||
|
"weight": 16733.690136130772
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
229,
|
||||||
|
243
|
||||||
|
],
|
||||||
|
"link": "Arm1",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": -2.3933465309361535,
|
||||||
|
"baseline_model_mm": 49.49747468305833,
|
||||||
|
"baseline_obs_mm": 49.589805881590635,
|
||||||
|
"weight": 2454.5701611618097
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 44.640580804136256,
|
||||||
|
"y": 7.073578785211089
|
||||||
|
}
|
||||||
|
}
|
||||||
65
data/homing/20260625_175916/state_Arm2.json
Normal file
65
data/homing/20260625_175916/state_Arm2.json
Normal file
@@ -0,0 +1,65 @@
|
|||||||
|
{
|
||||||
|
"status": "ok",
|
||||||
|
"link": "Arm2",
|
||||||
|
"joint": "a",
|
||||||
|
"method": "primary",
|
||||||
|
"joint_origin_world_mm": [
|
||||||
|
244.64058080413622,
|
||||||
|
-139.78180740318305,
|
||||||
|
84.28236561327859
|
||||||
|
],
|
||||||
|
"joint_axis_world": [
|
||||||
|
0.0,
|
||||||
|
0.13416044351804374,
|
||||||
|
0.9909596234938344
|
||||||
|
],
|
||||||
|
"mean_angle_deg": 92.49229573636204,
|
||||||
|
"circular_variance": 0.0005036790852294137,
|
||||||
|
"circular_std_deg": 1.8187344232244496,
|
||||||
|
"num_pairs_used": 2,
|
||||||
|
"num_markers_matched": 3,
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
144
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 90.53857082520275,
|
||||||
|
"baseline_model_mm": 26.684454275851333,
|
||||||
|
"baseline_obs_mm": 24.841154956793282,
|
||||||
|
"weight": 662.8726636038881
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
143,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 94.18507945848495,
|
||||||
|
"baseline_model_mm": 26.836171485515596,
|
||||||
|
"baseline_obs_mm": 28.506933940749555,
|
||||||
|
"weight": 765.0169677602199
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
144,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "primary",
|
||||||
|
"skipped": true,
|
||||||
|
"reason": "bl_model=0.4 bl_obs=3.9 < 15.0"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 44.640580804136256,
|
||||||
|
"y": 7.073578785211089,
|
||||||
|
"z": 90.63649643342701,
|
||||||
|
"a": 92.49229573636204
|
||||||
|
}
|
||||||
|
}
|
||||||
41
data/homing/20260625_175916/state_Ellbow.json
Normal file
41
data/homing/20260625_175916/state_Ellbow.json
Normal file
@@ -0,0 +1,41 @@
|
|||||||
|
{
|
||||||
|
"status": "ok",
|
||||||
|
"link": "Ellbow",
|
||||||
|
"joint": "z",
|
||||||
|
"method": "fallback_1_child_axis",
|
||||||
|
"joint_origin_world_mm": [
|
||||||
|
154.64058080413625,
|
||||||
|
-139.78180740318305,
|
||||||
|
84.28236561327859
|
||||||
|
],
|
||||||
|
"joint_axis_world": [
|
||||||
|
-1.0,
|
||||||
|
0.0,
|
||||||
|
0.0
|
||||||
|
],
|
||||||
|
"mean_angle_deg": 90.63649643342701,
|
||||||
|
"circular_variance": 0.0,
|
||||||
|
"circular_std_deg": 0.0,
|
||||||
|
"num_pairs_used": 1,
|
||||||
|
"num_markers_matched": 1,
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"marker_ids": [
|
||||||
|
144,
|
||||||
|
148
|
||||||
|
],
|
||||||
|
"link": "Arm2",
|
||||||
|
"tier": "fallback_1_child_axis",
|
||||||
|
"skipped": false,
|
||||||
|
"angle_deg": 90.63649643342701,
|
||||||
|
"baseline_model_mm": 107.0,
|
||||||
|
"baseline_obs_mm": 107.57847026231472,
|
||||||
|
"weight": 11510.896318067675
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"accumulated_state": {
|
||||||
|
"x": 44.640580804136256,
|
||||||
|
"y": 7.073578785211089,
|
||||||
|
"z": 90.63649643342701
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -5,12 +5,12 @@
|
|||||||
> Messung beiträgt und *wie stark* sie zählt.
|
> Messung beiträgt und *wie stark* sie zählt.
|
||||||
>
|
>
|
||||||
> **Status (2026-06-25):** **Qualitäts-Gewichtung** (Doc-Punkt 3 / Schritte 1+2)
|
> **Status (2026-06-25):** **Qualitäts-Gewichtung** (Doc-Punkt 3 / Schritte 1+2)
|
||||||
> umgesetzt. **Mehrpunkt-Eckresiduen** (Doc-Punkt 1 / Schritte 3+4) umgesetzt
|
> umgesetzt. **Mehrpunkt-Eckresiduen** (Doc-Punkt 1 / Schritte 3+4) als
|
||||||
> als Opt-in-Modus `marker_observation="corner_points"` — 12 Eck-Residuen für
|
> Opt-in-Modus `corner_points` implementiert, aber nach gescheitertem
|
||||||
> Roboter-Links, 1 Center-Residuum für die (spin-unkalibrierten) Board/Rail-
|
> Live-Test wieder **DEAKTIVIERT** — robot.json steht auf `corner_pose`
|
||||||
> Marker auf dem Root-Link. Endgültiges Tuning/Validierung gegen Simulation
|
> (bewährter Zustand). Der Code bleibt inaktiv im Repo. Ursache + Vorbedingungen
|
||||||
> steht aus (siehe Notiz unten). **Einzelkamera-Einbindung** (Doc-Punkt 2 /
|
> für eine erneute Aktivierung: Notiz unten. **Einzelkamera-Einbindung**
|
||||||
> Schritte 5+6) weiterhin **offen** — siehe Status-Spalte unten.
|
> (Doc-Punkt 2 / Schritte 5+6) weiterhin **offen**.
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
@@ -232,7 +232,7 @@ umsetzbar und (wo möglich) einzeln testbar, bevor der nächste beginnt.
|
|||||||
| 1 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `quality`/`confidence` aus `{cam}_aruco_detection.json` bis nach `aruco_marker_poses.json` durchreichen (3b liest es, schreibt ein neues `weight`-Feld pro Marker) | Diff der Ausgabedatei: nur das neue Feld ist zusätzlich da, alles andere (Position, Normale, …) identisch zu vorher — reiner Additivitätstest | **Nein.** Rein additives Feld, kein Pflichtfeld, alte Leser ignorieren es |
|
| 1 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `quality`/`confidence` aus `{cam}_aruco_detection.json` bis nach `aruco_marker_poses.json` durchreichen (3b liest es, schreibt ein neues `weight`-Feld pro Marker) | Diff der Ausgabedatei: nur das neue Feld ist zusätzlich da, alles andere (Position, Normale, …) identisch zu vorher — reiner Additivitätstest | **Nein.** Rein additives Feld, kein Pflichtfeld, alte Leser ignorieren es |
|
||||||
| 2 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `residual_vector()` nutzt das neue Gewicht, hinter einem Schalter (`pose_estimation.use_marker_weight`, Default `false`) | A/B-Vergleich auf den appRobotRendering-Simulationsszenen (mit/ohne Schalter) gegen bekannte Grundwahrheit — genau der Test, der laut Nutzer beim ersten Versuch wenig brachte, jetzt wiederholbar | **Nein bei Default aus.** Mit `true`: Ergebnisse ändern sich gewollt — muss vor Produktiv-Default separat validiert werden |
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| 2 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `residual_vector()` nutzt das neue Gewicht, hinter einem Schalter (`pose_estimation.use_marker_weight`, Default `false`) | A/B-Vergleich auf den appRobotRendering-Simulationsszenen (mit/ohne Schalter) gegen bekannte Grundwahrheit — genau der Test, der laut Nutzer beim ersten Versuch wenig brachte, jetzt wiederholbar | **Nein bei Default aus.** Mit `true`: Ergebnisse ändern sich gewollt — muss vor Produktiv-Default separat validiert werden |
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| 3 | ✅ erledigt (2026-06-25) | **(Doc-Punkt 1)** `robot_fk.py`: neue Methode liefert die 4 lokalen Eckpunkte eines Markers im Weltsystem (Baustein, noch ohne Anbindung) | Isoliert testbar, ganz ohne `5_pose_estimation.py`: gegen die wahren Eckpositionen aus `render_*.json` (Simulation liefert das schon) | **Nein.** Neue, bisher von niemandem aufgerufene Methode |
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| 3 | ✅ erledigt (2026-06-25) | **(Doc-Punkt 1)** `robot_fk.py`: neue Methode liefert die 4 lokalen Eckpunkte eines Markers im Weltsystem (Baustein, noch ohne Anbindung) | Isoliert testbar, ganz ohne `5_pose_estimation.py`: gegen die wahren Eckpositionen aus `render_*.json` (Simulation liefert das schon) | **Nein.** Neue, bisher von niemandem aufgerufene Methode |
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| 4 | 🟡 Code erledigt (2026-06-25), Tuning offen | **(Doc-Punkt 1)** Neuer `marker_observation`-Modus (z. B. `"corner_points"`) nutzt die 12 Eck-Residuen statt 6 Center/Normal-Residuen | Direkter Vorher/Nachher-Vergleich gegen dieselbe Validierungstabelle wie in `Homing_5_Pose.md` (10 Simulationsposen, bekannte GT) | **Nein als Opt-in** (Default bleibt `"corner_pose"`). Tuning-Punkt: `huber_delta_mm` ist auf die heutige Residuumsgröße kalibriert — mit 12 statt 6 Werten/Marker verschiebt sich die RMS-Größenordnung, müsste neu eingeordnet werden |
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| 4 | 🔴 Code da, aber DEAKTIVIERT (live gescheitert 2026-06-25 → robot.json zurück auf `corner_pose`) | **(Doc-Punkt 1)** Neuer `marker_observation`-Modus (z. B. `"corner_points"`) nutzt die 12 Eck-Residuen statt 6 Center/Normal-Residuen | Direkter Vorher/Nachher-Vergleich gegen dieselbe Validierungstabelle wie in `Homing_5_Pose.md` (10 Simulationsposen, bekannte GT) | **Nein als Opt-in** (Default bleibt `"corner_pose"`). Tuning-Punkt: `huber_delta_mm` ist auf die heutige Residuumsgröße kalibriert — mit 12 statt 6 Werten/Marker verschiebt sich die RMS-Größenordnung, müsste neu eingeordnet werden |
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| 5 | ⬜ **offen** (Vorarbeit/Guards ✅) | **(Doc-Punkt 2)** 3b nimmt 1-Kamera-Beobachtungen mit auf (rohe 2D-Ecken + Kamera-Referenz), statt sie zu verwerfen | Output-Diff: nur neue Einträge für vorher fehlende Marker, bestehende ≥2-Kamera-Einträge unverändert | **Ja, konkret** — siehe Konsumenten-Recherche direkt unter der Tabelle. Mehrere Stellen brauchen einen Guard, **bevor** dieser Schritt scharf geschaltet wird |
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| 5 | ⬜ **offen** (Vorarbeit/Guards ✅) | **(Doc-Punkt 2)** 3b nimmt 1-Kamera-Beobachtungen mit auf (rohe 2D-Ecken + Kamera-Referenz), statt sie zu verwerfen | Output-Diff: nur neue Einträge für vorher fehlende Marker, bestehende ≥2-Kamera-Einträge unverändert | **Ja, konkret** — siehe Konsumenten-Recherche direkt unter der Tabelle. Mehrere Stellen brauchen einen Guard, **bevor** dieser Schritt scharf geschaltet wird |
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| 6 | ⬜ **offen** | **(Doc-Punkt 2)** `residual_vector()` um Reprojektions-Residuen erweitert; `load_observations()`/`estimate_pose()` lesen zusätzlich Kamerakalibrierung | Zuerst an Simulationsszenen, bei denen gut beobachtete Marker künstlich auf „nur 1 Kamera" reduziert werden (GT bekannt) — saubere Kontrolle, ob das Residuum tatsächlich hilft, bevor reale Finger-Marker überhaupt existieren | **Nein strukturell** (additiver Residuumstyp), aber Regressionsrisiko durch falsche mm/px-Gewichtung — vor Produktiv-Default gegen die bestehende Validierungstabelle gegenprüfen (wie Schritt 4) |
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| 6 | ⬜ **offen** | **(Doc-Punkt 2)** `residual_vector()` um Reprojektions-Residuen erweitert; `load_observations()`/`estimate_pose()` lesen zusätzlich Kamerakalibrierung | Zuerst an Simulationsszenen, bei denen gut beobachtete Marker künstlich auf „nur 1 Kamera" reduziert werden (GT bekannt) — saubere Kontrolle, ob das Residuum tatsächlich hilft, bevor reale Finger-Marker überhaupt existieren | **Nein strukturell** (additiver Residuumstyp), aber Regressionsrisiko durch falsche mm/px-Gewichtung — vor Produktiv-Default gegen die bestehende Validierungstabelle gegenprüfen (wie Schritt 4) |
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| 7 | ⬜ **offen** | Zusammenführen: ein gemeinsames Gewichtsschema (Quality × Kamera-Anzahl × Residuumstyp) statt drei separater Schalter | End-to-End gegen Simulationsbenchmark **und** die drei realen Fixtures aus `Homing_5_Pose.md` | **Nein**, wenn alle Vorstufen additive Defaults hatten |
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| 7 | ⬜ **offen** | Zusammenführen: ein gemeinsames Gewichtsschema (Quality × Kamera-Anzahl × Residuumstyp) statt drei separater Schalter | End-to-End gegen Simulationsbenchmark **und** die drei realen Fixtures aus `Homing_5_Pose.md` | **Nein**, wenn alle Vorstufen additive Defaults hatten |
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@@ -293,13 +293,35 @@ Alle anderen Konsumenten (`homing.js`, `editRobot.js` → `assignByZRange`/`alig
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ziehen auch `corner_pose` leicht. Auf bereinigten Markern konvergiert
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ziehen auch `corner_pose` leicht. Auf bereinigten Markern konvergiert
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`corner_points` ≈ `corner_pose`. → Marker-Zuordnung korrigieren (separate
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`corner_points` ≈ `corner_pose`. → Marker-Zuordnung korrigieren (separate
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Kalibrier-Aufgabe).
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Kalibrier-Aufgabe).
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- **Scharfgeschaltet (2026-06-25, gescopt):** robot.json
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- **DEAKTIVIERT (2026-06-25) — Aktivierung am echten Roboter gescheitert,
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`marker_observation: "corner_points"` mit
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zurückgedreht.** robot.json steht wieder auf `marker_observation:
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`corner_point_links: ["Hand","Palm","FingerA","FingerB"]`. D.h. nur Hand/Finger
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"corner_pose"` (der bewährte Zustand). Der `corner_points`-Code bleibt im
|
||||||
nutzen die 4 Ecken; Arme behalten Center+Normale, Board nur Center. Auf der
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Repo, ist aber **inaktiv** (opt-in).
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Arm-Capture (ohne Finger-Marker) **byte-identisch** zu `corner_pose` → keine
|
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||||||
Regression im bestehenden Pfad. Die Arme können in die Liste, sobald die
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**Was probiert wurde:** `corner_points` mit `corner_point_links:
|
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A0→Arm1-Fehlzuordnung behoben ist.
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["Hand","Palm","FingerA","FingerB"]` scharfgeschaltet (nur Hand/Finger über
|
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Ecken, Arme/Board unverändert). Am echten Lauf (data/homing/20260625_175916)
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kippte die Hand (`b` −52° → +62°) und `x` wanderte (160 → 110 mm).
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**Belegte Ursache (Gegenprobe an denselben Daten):**
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- `corner_pose` → gutes Ergebnis (`b`≈−52, `x`≈160); `corner_points` → das
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schlechte. Also eindeutig der Modus.
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- Die **Eck-Konvention ist NICHT der Fehler**: 2 der 3 Finger-Marker passen am
|
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guten Pose exakt (FingerB #178/#179, ~2–3 mm, korrekte Eck-Paarung fwd+r0).
|
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- **Eigentliche Ursache: ein einzelner schlechter Marker.** FingerA **#147**
|
||||||
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liegt **132 mm neben dem Modell** (Position/Zuordnung in robot.json noch
|
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provisorisch, vgl. Commits „Finger1 Marker"/„zweiter Finger – verdreht").
|
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Im Eck-Modus liefert ein Marker **12 statt 3 Residuen** → ein einzelner
|
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Ausreißer hat ~4× Zugkraft und reißt `global_ba` ins falsche Minimum.
|
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`corner_pose` (3 Residuen) dämpft ihn per Huber weg.
|
||||||
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||||||
|
**Damit `corner_points` je produktiv taugt, fehlen ZWEI Dinge:**
|
||||||
|
1. **Daten:** FingerA #147 sauber einmessen / Zuordnung prüfen.
|
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2. **Code-Robustheit:** Ausreißer-Schutz im Eck-Modus (grob daneben liegende
|
||||||
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Marker pro Marker auf Center zurückfallen lassen oder verwerfen), sonst
|
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kippt jede reale Aufnahme mit *einem* schlechten Marker. Erst danach –
|
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gegen GT (Simulation oder Finger-Capture bekannter Pose), **nicht** live –
|
||||||
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erneut testen. CLI zum Vergleichen: `--marker-observation corner_points`.
|
||||||
- **Offen (Schritt 4 Tuning):** `huber_delta_mm` ist auf 6 Residuen/Marker
|
- **Offen (Schritt 4 Tuning):** `huber_delta_mm` ist auf 6 Residuen/Marker
|
||||||
kalibriert; mit 12 verschiebt sich die RMS-Größenordnung. Sauberes A/B + Tuning
|
kalibriert; mit 12 verschiebt sich die RMS-Größenordnung. Sauberes A/B + Tuning
|
||||||
der Hand/Finger-Ecken gegen appRobotRendering-Simulations-GT steht aus (hier
|
der Hand/Finger-Ecken gegen appRobotRendering-Simulations-GT steht aus (hier
|
||||||
|
|||||||
@@ -281,8 +281,7 @@
|
|||||||
},
|
},
|
||||||
"pose_estimation": {
|
"pose_estimation": {
|
||||||
"method": "hybrid",
|
"method": "hybrid",
|
||||||
"marker_observation": "corner_points",
|
"marker_observation": "corner_pose",
|
||||||
"corner_point_links": ["Hand", "Palm", "FingerA", "FingerB"],
|
|
||||||
"use_normals": true,
|
"use_normals": true,
|
||||||
"normal_weight": 100,
|
"normal_weight": 100,
|
||||||
"robust_loss": "huber",
|
"robust_loss": "huber",
|
||||||
|
|||||||
Reference in New Issue
Block a user