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Angle Double

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ChK
2026-05-15 14:20:18 +02:00
parent e406f18169
commit 8410ce685b
14 changed files with 465 additions and 49 deletions
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test/snapshots/snapshot_video0_1778845508432.jpg Executable file
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test/snapshots/snapshot_video0_1778845508432_two_cam.csv Executable file
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id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
camera 0,-45.26,-643.92,610.54,-123.820,-3.052,-30.995
camera 1,10.55,-438.57,997.81,-160.771,-18.041,-14.950
180,419.14,-140.22,418.18,72.800,42.247,-106.109,2
189,453.50,-168.57,403.03,88.856,-7.808,-48.251,3
196,426.40,-168.29,377.81,16.748,-9.999,-21.351,3
197,297.35,-122.58,90.09,95.407,83.104,-83.205,1
198,338.69,-34.96,116.45,-10.259,0.249,-1.646,3
200,268.46,-18.68,115.06,0.906,-1.063,1.907,3
201,232.36,58.93,100.62,48.972,59.258,20.582,3
204,268.60,134.65,120.12,-3.903,1.616,-1.027,3
205,803.19,-90.66,-0.77,131.746,-47.948,-88.085,3
210,-5.27,3.72,-4.15,-1.090,1.598,-1.102,3
211,200.22,0.62,-1.19,-1.206,0.232,-1.179,3
215,199.19,-89.68,-0.60,-1.626,-0.834,-1.483,3
218,410.85,-161.13,200.05,-93.281,-7.490,129.360,3
219,418.18,-170.76,306.64,-36.855,-10.153,137.791,3
222,453.79,-138.61,61.69,-96.553,-4.102,-175.991,1
229,341.88,-124.09,129.35,-7.622,0.840,-0.059,3
243,353.63,-145.71,80.99,81.127,1.472,0.651,1
1 id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
2 camera 0,-45.26,-643.92,610.54,-123.820,-3.052,-30.995
3 camera 1,10.55,-438.57,997.81,-160.771,-18.041,-14.950
4 180,419.14,-140.22,418.18,72.800,42.247,-106.109,2
5 189,453.50,-168.57,403.03,88.856,-7.808,-48.251,3
6 196,426.40,-168.29,377.81,16.748,-9.999,-21.351,3
7 197,297.35,-122.58,90.09,95.407,83.104,-83.205,1
8 198,338.69,-34.96,116.45,-10.259,0.249,-1.646,3
9 200,268.46,-18.68,115.06,0.906,-1.063,1.907,3
10 201,232.36,58.93,100.62,48.972,59.258,20.582,3
11 204,268.60,134.65,120.12,-3.903,1.616,-1.027,3
12 205,803.19,-90.66,-0.77,131.746,-47.948,-88.085,3
13 210,-5.27,3.72,-4.15,-1.090,1.598,-1.102,3
14 211,200.22,0.62,-1.19,-1.206,0.232,-1.179,3
15 215,199.19,-89.68,-0.60,-1.626,-0.834,-1.483,3
16 218,410.85,-161.13,200.05,-93.281,-7.490,129.360,3
17 219,418.18,-170.76,306.64,-36.855,-10.153,137.791,3
18 222,453.79,-138.61,61.69,-96.553,-4.102,-175.991,1
19 229,341.88,-124.09,129.35,-7.622,0.840,-0.059,3
20 243,353.63,-145.71,80.99,81.127,1.472,0.651,1

267
test/snapshots/snapshot_video0_1778845508432_two_cam.json Executable file
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{
"metadata": {
"timestamp": "2026-05-15 11:45:08",
"reference_markers": [
205,
210,
211,
215
],
"dict": "DICT_4X4_250",
"marker_size_mm": 25.0,
"rms_refs_px_cam1": 5.39648196111485,
"rms_refs_px_cam2": 5.377608516390921,
"description": "Two-camera joint optimization with triangulation"
},
"cameras": [
{
"id": "camera1",
"position_mm": [
-45.26291564111129,
-643.9152747329521,
610.5360477447284
],
"orientation_deg": {
"roll": -123.81983227060897,
"pitch": -3.052095021020194,
"yaw": -30.994640267051796
}
},
{
"id": "camera2",
"position_mm": [
10.553380406378764,
-438.5675198007304,
997.8097666875392
],
"orientation_deg": {
"roll": -160.77106232170593,
"pitch": -18.041298309463212,
"yaw": -14.950430767356504
}
}
],
"markers": [
{
"id": 180,
"position_mm": [
419.144582367835,
-140.22299366478097,
418.1777757275768
],
"orientation_deg": {
"roll": 72.80001565888858,
"pitch": 42.24706355578098,
"yaw": -106.10873668157622
}
},
{
"id": 189,
"position_mm": [
453.49652099609375,
-168.57383728027344,
403.028076171875
],
"orientation_deg": {
"roll": 88.85554131822369,
"pitch": -7.808091604864712,
"yaw": -48.2507766865305
}
},
{
"id": 196,
"position_mm": [
426.4018859863281,
-168.291748046875,
377.80609130859375
],
"orientation_deg": {
"roll": 16.74814878527144,
"pitch": -9.998891362798654,
"yaw": -21.35050086279306
}
},
{
"id": 197,
"position_mm": [
297.35264103055096,
-122.58445163275444,
90.08801199506212
],
"orientation_deg": {
"roll": 95.40654253536692,
"pitch": 83.10358092445118,
"yaw": -83.20497125428815
}
},
{
"id": 198,
"position_mm": [
338.6861877441406,
-34.96370315551758,
116.44953918457031
],
"orientation_deg": {
"roll": -10.259342232120957,
"pitch": 0.24870528512126713,
"yaw": -1.645925923556587
}
},
{
"id": 200,
"position_mm": [
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115.06306457519531
],
"orientation_deg": {
"roll": 0.9062729692050792,
"pitch": -1.0632288819207127,
"yaw": 1.9070692806416922
}
},
{
"id": 201,
"position_mm": [
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],
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"pitch": 59.257661898345866,
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},
{
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],
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}
},
{
"id": 205,
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],
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}
},
{
"id": 210,
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],
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}
},
{
"id": 211,
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],
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}
},
{
"id": 215,
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},
{
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},
{
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},
{
"id": 222,
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},
{
"id": 229,
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{
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}
}
]
}

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