nix wesentliches

test/snapshots/snapshot_video0_1775059558651_two_cam.csv

@@ -0,0 +1,19 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,40.22,-601.08,596.93,-122.797,0.530,-11.197
+camera 1,283.32,-313.32,1182.69,-164.557,-3.290,-1.693
+198,324.31,-50.35,105.42,-2.816,3.078,0.532,3
+200,255.65,-30.99,120.21,2.047,-1.469,2.958,3
+201,223.40,61.35,97.10,58.503,65.289,35.794,1
+204,257.03,120.80,126.68,0.927,2.575,0.798,3
+205,845.29,-68.87,-121.90,6.028,-1.121,-0.918,2
+207,835.86,22.62,-95.83,-0.354,-0.916,-0.932,2
+208,509.90,-72.99,-100.53,-6.206,-4.266,1.301,2
+210,-1.95,-0.83,0.28,-0.137,0.697,-0.054,3
+211,199.90,-0.10,-0.22,-0.086,1.118,-0.348,3
+215,199.93,-90.26,-1.20,0.688,0.712,1.070,3
+217,625.13,27.65,-108.40,1.354,-5.904,-2.332,2
+218,395.38,-88.46,171.91,-48.393,22.475,147.857,3
+219,400.04,-19.62,250.37,-72.336,13.761,167.612,3
+222,415.31,-166.96,93.55,-52.342,41.102,129.657,3
+229,326.49,-141.41,110.19,-1.544,2.324,1.437,3
+243,339.57,-148.00,45.87,87.759,3.196,1.678,1

test/snapshots/snapshot_video0_1775059558651_two_cam.json

@@ -0,0 +1,253 @@
+{
+    "metadata": {
+        "timestamp": "2026-04-01 16:05:58",
+        "reference_markers": [
+            210,
+            211,
+            215
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 1.8582924760612827,
+        "rms_refs_px_cam2": 2.330470035574256,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                40.22314039761779,
+                -601.0792488423464,
+                596.9327785530447
+            ],
+            "orientation_deg": {
+                "roll": -122.79687114168128,
+                "pitch": 0.5299650528679806,
+                "yaw": -11.19732576034762
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                283.3194084630093,
+                -313.31540470772376,
+                1182.6886009180723
+            ],
+            "orientation_deg": {
+                "roll": -164.55721048299915,
+                "pitch": -3.290022417753961,
+                "yaw": -1.693448649180297
+            }
+        }
+    ],
+    "markers": [
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+            "id": 198,
+            "position_mm": [
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+                -50.35000991821289,
+                105.41532135009766
+            ],
+            "orientation_deg": {
+                "roll": -2.8159978396324385,
+                "pitch": 3.0784694604104845,
+                "yaw": 0.5324436079528191
+            }
+        },
+        {
+            "id": 200,
+            "position_mm": [
+                255.65428161621094,
+                -30.993553161621094,
+                120.21353912353516
+            ],
+            "orientation_deg": {
+                "roll": 2.047341765011827,
+                "pitch": -1.4691369263230971,
+                "yaw": 2.958220818785855
+            }
+        },
+        {
+            "id": 201,
+            "position_mm": [
+                223.40408991255273,
+                61.34500351818739,
+                97.10337180761242
+            ],
+            "orientation_deg": {
+                "roll": 58.50340429036495,
+                "pitch": 65.28889557439236,
+                "yaw": 35.79448944551811
+            }
+        },
+        {
+            "id": 204,
+            "position_mm": [
+                257.02783203125,
+                120.79708862304688,
+                126.68009185791016
+            ],
+            "orientation_deg": {
+                "roll": 0.9270977362960664,
+                "pitch": 2.5750059862195998,
+                "yaw": 0.7979734726825459
+            }
+        },
+        {
+            "id": 205,
+            "position_mm": [
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+                -68.87033366627612,
+                -121.90154614424719
+            ],
+            "orientation_deg": {
+                "roll": 6.028374899560069,
+                "pitch": -1.1205435686394334,
+                "yaw": -0.9183243719775659
+            }
+        },
+        {
+            "id": 207,
+            "position_mm": [
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+                22.622071465078886,
+                -95.82528246293754
+            ],
+            "orientation_deg": {
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+                "pitch": -0.9156740383020426,
+                "yaw": -0.931896734426393
+            }
+        },
+        {
+            "id": 208,
+            "position_mm": [
+                509.9043828052644,
+                -72.98968204376,
+                -100.53286177448074
+            ],
+            "orientation_deg": {
+                "roll": -6.206451161834716,
+                "pitch": -4.265815229687136,
+                "yaw": 1.300844112478964
+            }
+        },
+        {
+            "id": 210,
+            "position_mm": [
+                -1.951512098312378,
+                -0.8267936110496521,
+                0.28368595242500305
+            ],
+            "orientation_deg": {
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+                "pitch": 0.6968673599524171,
+                "yaw": -0.053929007848167836
+            }
+        },
+        {
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+            "position_mm": [
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+                "pitch": 1.117567079963727,
+                "yaw": -0.3482089497557915
+            }
+        },
+        {
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+            "position_mm": [
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+                -90.25538635253906,
+                -1.1994396448135376
+            ],
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+                "pitch": 0.7124622122247708,
+                "yaw": 1.0696766064925707
+            }
+        },
+        {
+            "id": 217,
+            "position_mm": [
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+                27.646836615632775,
+                -108.3975687319556
+            ],
+            "orientation_deg": {
+                "roll": 1.3541470288850104,
+                "pitch": -5.90388564994379,
+                "yaw": -2.3320887446036074
+            }
+        },
+        {
+            "id": 218,
+            "position_mm": [
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+                -88.45947265625,
+                171.91085815429688
+            ],
+            "orientation_deg": {
+                "roll": -48.39269326218058,
+                "pitch": 22.4748374697169,
+                "yaw": 147.85747461376567
+            }
+        },
+        {
+            "id": 219,
+            "position_mm": [
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+                -19.616735458374023,
+                250.37112426757812
+            ],
+            "orientation_deg": {
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+                "pitch": 13.76113120418918,
+                "yaw": 167.6123431187356
+            }
+        },
+        {
+            "id": 222,
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+                93.55204772949219
+            ],
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+                "pitch": 41.10236502014513,
+                "yaw": 129.6565035121227
+            }
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+        {
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+            "position_mm": [
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+                110.18692779541016
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+                "pitch": 2.323583664633397,
+                "yaw": 1.4369142746848573
+            }
+        },
+        {
+            "id": 243,
+            "position_mm": [
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+                45.86513970921757
+            ],
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+                "roll": 87.75906238586944,
+                "pitch": 3.1958027729366387,
+                "yaw": 1.6782796054470672
+            }
+        }
+    ]
+}