From f9db05d073bcf630bc27a3abd8e9e39d1b21f954 Mon Sep 17 00:00:00 2001 From: ChK Date: Fri, 19 Jun 2026 11:31:32 +0200 Subject: [PATCH] Marker --- scripts/robot_1781069752019.json | 2360 +++++++++++++++++++++++++++--- 1 file changed, 2129 insertions(+), 231 deletions(-) diff --git a/scripts/robot_1781069752019.json b/scripts/robot_1781069752019.json index 1ddac2f..b6a53a6 100644 --- a/scripts/robot_1781069752019.json +++ b/scripts/robot_1781069752019.json @@ -1,27 +1,94 @@ { - "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"}, - "units": {"length": "mm", "rotation": "degree"}, - "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025}, + "coordinateSystem": { + "handedness": "right", + "x": "right", + "y": "backward", + "z": "up" + }, + "units": { + "length": "mm", + "rotation": "degree" + }, + "vision_config": { + "MarkerType": "DICT_4X4_250", + "MarkerSize": 0.025 + }, "renderingInfo": { "width": 1280, "height": 720, - "renderDefaults": {"width": 1280, "height": 720, "dofFStop": 11}, - "cameraPosition__1": [-10, -800, 500], - "cameraPosition__2": [-500, 300, 1200], - "cameraPosition__3": [-200, -900, 200], - "cameraPosition__4": [1200, 200, 300], - "cameraPosition_a": [-300, -800, 500], - "cameraPosition": [-200, 200, 1400], - "cameraPosition_c": [600, -500, 600], - "cameraTarget": [200, -200, 180], - "cameraUpVector": [0, 0, 1], - "lightPosition": [-500, -500, 500], - "lightTarget": [0, 0, 0], - "lightUpVector": [0, 0, 1], + "renderDefaults": { + "width": 1280, + "height": 720, + "dofFStop": 11 + }, + "cameraPosition__1": [ + -10, + -800, + 500 + ], + "cameraPosition__2": [ + -500, + 300, + 1200 + ], + "cameraPosition__3": [ + -200, + -900, + 200 + ], + "cameraPosition__4": [ + 1200, + 200, + 300 + ], + "cameraPosition_a": [ + -300, + -800, + 500 + ], + "cameraPosition": [ + -200, + 200, + 1400 + ], + "cameraPosition_c": [ + 600, + -500, + 600 + ], + "cameraTarget": [ + 200, + -200, + 180 + ], + "cameraUpVector": [ + 0, + 0, + 1 + ], + "lightPosition": [ + -500, + -500, + 500 + ], + "lightTarget": [ + 0, + 0, + 0 + ], + "lightUpVector": [ + 0, + 0, + 1 + ], "metric": "mm", "showSkeleton": true, "showMarkers": true, - "backgroundColor": [0.7, 0.85, 1.0], + "backgroundColor": [ + 0.7, + 0.85, + 1 + ], "backgroundStrength": 0.2, "sunEnergy": 0.35, "areaEnergy": 120, @@ -29,17 +96,20 @@ "lensDirt": true, "lensDirtStrength": 0.08, "dofEnabled": true, - "dofFStop": 11.0, + "dofFStop": 11, "arucoDust": true, "arucoDustStrength": 1.6, - "markerOffsetMaxMm": 4.0, + "markerOffsetMaxMm": 4, "markerOffsetSeed": 0, "markerRotationMaxDeg": 3, "motionBlur": true, "motionBlurMaxPx": 5.5, "focalErrorPct": 0.5, - "principalErrorPx": 3.0, - "residualDistortion": [0.02, -0.01], + "principalErrorPx": 3, + "residualDistortion": [ + 0.02, + -0.01 + ], "localizedBlur": false, "localizedBlurStrength": 0.15, "vignette": true, @@ -49,34 +119,155 @@ "lensDistortion": true, "lensDistortionStrength": 0.002, "materials": { - "wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0}, - "plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0}, - "steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0}, - "powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0}, - "defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0}, - "skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0}, - "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0} + "wood": { + "baseColor": [ + 0.72, + 0.52, + 0.33 + ], + "roughness": 0.85, + "metallic": 0 + }, + "plaWhite": { + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], + "roughness": 0.45, + "metallic": 0 + }, + "steel": { + "baseColor": [ + 0.72, + 0.72, + 0.75 + ], + "roughness": 0.25, + "metallic": 1 + }, + "powderCoatBlue": { + "baseColor": [ + 0.15, + 0.25, + 0.7 + ], + "roughness": 0.55, + "metallic": 0 + }, + "defaultPlastic": { + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], + "roughness": 0.4, + "metallic": 0 + }, + "skeletonRed": { + "baseColor": [ + 0.85, + 0.2, + 0.2 + ], + "roughness": 0.35, + "metallic": 0 + }, + "markerBlack": { + "baseColor": [ + 0.04, + 0.04, + 0.04 + ], + "roughness": 0.8, + "metallic": 0 + } }, - "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]}, - "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]}, - "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3} + "skeletonDefaults": { + "radius": 4, + "color": [ + 0.85, + 0.2, + 0.2 + ] + }, + "markerDefaults": { + "size": 25, + "thickness": 1, + "color": [ + 0.04, + 0.04, + 0.04 + ] + }, + "defaultPosition": { + "x": 80, + "y": 20, + "z": 80, + "a": -120, + "b": 23, + "c": 9, + "e": 3 + } + }, + "defaultPosition__": { + "x": 10, + "y": 4, + "z": 20, + "a": 10, + "b": 2, + "c": 9, + "e": 1 + }, + "defaultPosition": { + "x": 50, + "y": 4, + "z": 176, + "a": 20, + "b": 60, + "c": 9, + "e": 5 + }, + "recognized": { + "x": null, + "y": null, + "z": null, + "a": null, + "b": null, + "c": null, + "e": null }, - "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1}, - "defaultPosition": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5}, - "recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null}, "constraint_rules": { - "rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0}, - "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35}, - "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15}, + "rigid_distance": { + "enabled": true, + "mode": "mst", + "weight": 1 + }, + "joint_axis_projection": { + "enabled": true, + "max_pairs": 2, + "weight": 0.35 + }, + "chain_axis_projection": { + "enabled": false, + "max_depth": 3, + "max_pairs": 2, + "weight": 0.15 + }, "axis_alignment_threshold": 0.95 }, - "observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true}, + "observation_weighting": { + "enabled": true, + "distance_weight": true, + "marker_size_weight": true, + "view_angle_weight": true + }, "multiview_calculation": { "combine_mode": "mean", - "size_ref_px": 50.0, - "border_ref_px": 120.0, + "size_ref_px": 50, + "border_ref_px": 120, "center_ref_norm": 0.01, - "sharpness_ref": 2500.0, + "sharpness_ref": 2500, "homography_ref": 0.18, "size_factor": 0.3, "aspect_factor": 0.3, @@ -92,22 +283,101 @@ "method": "hybrid", "marker_observation": "corner_pose", "use_normals": true, - "normal_weight": 100.0, + "normal_weight": 100, "robust_loss": "huber", - "huber_delta_mm": 8.0, + "huber_delta_mm": 8, "max_iterations": 200, "min_cameras_per_marker": 2, - "finger_block_joints": ["b", "c", "e"], + "finger_block_joints": [ + "b", + "c", + "e" + ], "per_link_method": {}, "fit_origin_link": "Arm1" }, "robot_test_poses": { - "4": {"x": 70, "y": 50, "z": -70, "a": 120, "b": 50, "c": 30, "e": 20}, - "5": {"x": 180, "y": 86, "z": -120, "a": -60, "b": 22, "c": 91, "e": 10}, - "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}, - "7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9}, - "8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3}, - "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8}, + "4": { + "x": 70, + "y": 50, + "z": -70, + "a": 120, + "b": 50, + "c": 30, + "e": 20 + }, + "5": { + "x": 180, + "y": 86, + "z": -120, + "a": -60, + "b": 22, + "c": 91, + "e": 10 + }, + "6": { + "x": 80, + "y": 20, + "z": 80, + "a": -120, + "b": 23, + "c": 9, + "e": 3 + }, + "7": { + "x": 30, + "y": -2, + "z": 95, + "a": 20, + "b": 23, + "c": 9, + "e": 9 + }, + "8": { + "x": 50, + "y": -2, + "z": 95, + "a": 20, + "b": 60, + "c": 9, + "e": 3 + }, + "9": { + "x": 60, + "y": -2, + "z": 95, + "a": 200, + "b": 60, + "c": 9, + "e": 8 + }, + "10": { + "x": 120, + "y": 60, + "z": -110, + "a": 20, + "b": 30, + "c": 180, + "e": 4 + }, + "11": { + "x": 50, + "y": 4, + "z": 176, + "a": 20, + "b": 60, + "c": 9, + "e": 5 + }, + "12": { + "x": 50, + "y": 0, + "z": 178, + "a": 210, + "b": 80, + "c": 90, + "e": 6 + }, "9a": { "x": 60, "y": -2, @@ -116,7 +386,11 @@ "b": 60, "c": 9, "e": 8, - "rendering": {"width": 1440, "height": 1080, "dofFStop": 11} + "rendering": { + "width": 1440, + "height": 1080, + "dofFStop": 11 + } }, "9b": { "x": 60, @@ -126,39 +400,104 @@ "b": 60, "c": 9, "e": 8, - "rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6} - }, - "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4}, - "11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5}, - "12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6} + "rendering": { + "width": 4896, + "height": 3264, + "dofFStop": 5.6 + } + } }, "test_camera_positions": { - "a": [-300, -800, 800], - "b": [300, -900, 1200], - "c": [300, -900, 400], - "d": [700, -800, 400], - "e": [1200, -900, 400], - "f": [500, -300, 1400], - "g": [-200, 200, 1400] + "a": [ + -300, + -800, + 800 + ], + "b": [ + 300, + -900, + 1200 + ], + "c": [ + 300, + -900, + 400 + ], + "d": [ + 700, + -800, + 400 + ], + "e": [ + 1200, + -900, + 400 + ], + "f": [ + 500, + -300, + 1400 + ], + "g": [ + -200, + 200, + 1400 + ] }, "test_camera_targets": { - "a": [210, -100, 180], - "b": [310, -80, 180], - "c": [210, -100, 150], - "d": [210, -100, 150], - "e": [210, -100, 50], - "f": [200, -200, 180], - "g": [200, -200, 180] + "a": [ + 210, + -100, + 180 + ], + "b": [ + 310, + -80, + 180 + ], + "c": [ + 210, + -100, + 150 + ], + "d": [ + 210, + -100, + 150 + ], + "e": [ + 210, + -100, + 50 + ], + "f": [ + 200, + -200, + 180 + ], + "g": [ + 200, + -200, + 180 + ] + }, + "movements": { + "x": null, + "y": null, + "z": null, + "a": null, + "b": null, + "c": null, + "e": null }, - "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null}, "state_pose_params": { "numbers_of_Elements_to_consider_start": 3, "numbers_of_Elements_to_consider_final": 5, "solver_in_between_geometrical": false, "solver_after_geometrical": false, "geometric_passes_per_stage": 2, - "revolute_search_coarse_deg": 5.0, - "revolute_search_fine_deg": 1.0, + "revolute_search_coarse_deg": 5, + "revolute_search_fine_deg": 1, "root_pose_min_markers": 3, "use_marker_normals_flip_tiebreak": true, "normal_flip_weight": 0.05 @@ -166,289 +505,1848 @@ "links": { "Board": { "parent": null, - "size": [1000, 200, 25], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "skeleton": {"from": [0, 0, 16], "to": [1000, 0, 16], "radius": 4, "color": [0.85, 0.2, 0.2]}, + "size": [ + 1000, + 200, + 25 + ], + "mountPosition": [ + 0, + 0, + 0 + ], + "mountRotation": [ + 0, + 0, + 0 + ], + "skeleton": { + "from": [ + 0, + 0, + 16 + ], + "to": [ + 1000, + 0, + 16 + ], + "radius": 4, + "color": [ + 0.85, + 0.2, + 0.2 + ] + }, "markers": [ { "id": 46, "set": "A0", - 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