Arbeiten mit Github
This commit is contained in:
chk
@@ -224,6 +224,13 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
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with open(robot_json_path, "r", encoding="utf-8") as f:
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with open(robot_json_path, "r", encoding="utf-8") as f:
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robot_data = json.load(f)
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robot_data = json.load(f)
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length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
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length_scale = 1.0
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if length_units in ("mm", "millimeter", "millimeters"):
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length_scale = 1.0 / 1000.0
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elif length_units in ("cm", "centimeter", "centimeters"):
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length_scale = 1.0 / 100.0
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marker_lookup: Dict[int, Dict[str, Any]] = {}
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marker_lookup: Dict[int, Dict[str, Any]] = {}
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links = robot_data.get("links", {})
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links = robot_data.get("links", {})
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@@ -254,7 +261,7 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
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rotation = get_marker_rotation(marker)
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rotation = get_marker_rotation(marker)
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marker_lookup[marker_id] = {
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marker_lookup[marker_id] = {
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"position": np.array(pos, dtype=np.float32),
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"position": np.array(pos, dtype=np.float32) * np.float32(length_scale),
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"rotation": rotation,
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"rotation": rotation,
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"on": marker.get("on", "unknown"),
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"on": marker.get("on", "unknown"),
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}
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}
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@@ -690,7 +697,7 @@ def main() -> None:
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# B ≈ R A + t -> world = R * camera + t
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# B ≈ R A + t -> world = R * camera + t
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R_cw_init, t_cw_init = rigid_transform_no_scale(marker_cam_centers, X_world)
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R_cw_init, t_cw_init = rigid_transform_no_scale(marker_cam_centers, X_world)
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R_wc_init = R_cw_init.T
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R_wc_init = R_cw_init.T
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t_wc_init = (-R_wc_init @ t_cw_init).reshape(3)
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t_wc_init = -(R_wc_init @ t_cw_init).reshape(3)
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omega_init = cv2.Rodrigues(R_wc_init)[0].reshape(3)
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omega_init = cv2.Rodrigues(R_wc_init)[0].reshape(3)
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theta0 = pack_params(omega_init, t_wc_init)
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theta0 = pack_params(omega_init, t_wc_init)
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@@ -126,7 +126,13 @@ def build_marker_lookup(robot_data):
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marker_lookup = {}
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marker_lookup = {}
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length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
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length_scale = 1.0
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if length_units in ("mm", "millimeter", "millimeters"):
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length_scale = 1.0 / 1000.0
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elif length_units in ("cm", "centimeter", "centimeters"):
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length_scale = 1.0 / 100.0
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markers = []
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markers = []
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# Neues Format: links -> Board -> markers
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# Neues Format: links -> Board -> markers
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@@ -169,7 +175,7 @@ def build_marker_lookup(robot_data):
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"position": np.array(
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"position": np.array(
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pos,
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pos,
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dtype=np.float32
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dtype=np.float32
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),
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) * np.float32(length_scale),
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"rotation": rotation,
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"rotation": rotation,
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"on": marker.get("on", "unknown")
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"on": marker.get("on", "unknown")
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}
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}
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@@ -1,6 +1,6 @@
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{
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{
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"schema_version": "1.0",
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"schema_version": "1.0",
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"created_utc": "2026-05-29T05:34:15Z",
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"created_utc": "2026-05-29T06:03:07Z",
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"vision_config": {
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"vision_config": {
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"MarkerType": "DICT_4X4_250",
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"MarkerType": "DICT_4X4_250",
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"MarkerSize": 0.025
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"MarkerSize": 0.025
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@@ -46,7 +46,7 @@
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},
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},
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"detections": [
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"detections": [
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{
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{
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"observation_id": "8c42df77-c894-4ea1-8d70-bc7242ec953b",
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"observation_id": "f95b7df5-d56a-4e50-baae-ed98245255b0",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 124,
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"marker_id": 124,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -100,7 +100,7 @@
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"confidence": 0.6862086405991146
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"confidence": 0.6862086405991146
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},
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},
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{
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{
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"observation_id": "549a7c31-573c-47d5-906d-2abdaf0e2163",
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"observation_id": "d6a89cdb-43b2-4494-84c8-47d5de39baa8",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 243,
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"marker_id": 243,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -154,7 +154,7 @@
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"confidence": 0.953171926139578
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"confidence": 0.953171926139578
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},
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},
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{
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{
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"observation_id": "c4fc6e32-92a6-499d-b09d-9d1d88ced7c0",
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"observation_id": "05209fc7-239c-43ca-8cf8-7566f456041d",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 122,
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"marker_id": 122,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -208,7 +208,7 @@
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"confidence": 0.5964639370258038
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"confidence": 0.5964639370258038
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},
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},
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{
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{
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"observation_id": "4462ae69-6f30-4281-9ace-bc8cac13cb07",
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"observation_id": "52848f64-67df-4213-91b2-ffdfe9064ee2",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 102,
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"marker_id": 102,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -262,7 +262,7 @@
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"confidence": 0.3578323322772018
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"confidence": 0.3578323322772018
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},
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},
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{
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{
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"observation_id": "233fe57c-1886-4fce-914e-d6656f706474",
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"observation_id": "7bc13599-644e-4dbd-8ad2-ad5f80056d8c",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 229,
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"marker_id": 229,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -316,7 +316,7 @@
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"confidence": 0.4396423002158715
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"confidence": 0.4396423002158715
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},
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},
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{
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{
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"observation_id": "cfdcf058-d469-4ba1-92bf-b86c9ae9c486",
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"observation_id": "41826dad-da5d-4fb1-87e4-757a2c21171a",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 210,
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"marker_id": 210,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -370,7 +370,7 @@
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"confidence": 0.23718801109435655
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"confidence": 0.23718801109435655
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},
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},
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{
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{
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"observation_id": "7908f25a-83ca-43b4-a7e9-17a6b3dd00d6",
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"observation_id": "f354d0f3-34a9-428e-887d-a4364525a2b0",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 198,
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"marker_id": 198,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -424,7 +424,7 @@
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"confidence": 0.27797680859006363
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"confidence": 0.27797680859006363
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},
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},
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{
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{
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"observation_id": "70f6536d-4ec4-4681-bf8b-855004a93f19",
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"observation_id": "447b944c-8faf-41e5-b724-af8f221c64fc",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 205,
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"marker_id": 205,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -478,7 +478,7 @@
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"confidence": 0.19676029488014599
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"confidence": 0.19676029488014599
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},
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},
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{
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{
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"observation_id": "46c80ca9-5820-4672-8b09-34c7d7d2051f",
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"observation_id": "51c410f3-45e5-4d70-9bd8-535c1306e4cf",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 206,
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"marker_id": 206,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -532,7 +532,7 @@
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"confidence": 0.23511362818048806
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"confidence": 0.23511362818048806
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},
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},
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{
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{
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"observation_id": "66327b90-f891-4c45-9a90-e469527a527d",
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"observation_id": "61058f2a-9c08-4073-a43e-7a907cf8fb75",
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"type": "aruco",
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"type": "aruco",
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"marker_id": 207,
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"marker_id": 207,
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"marker_size_m": 0.025,
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"marker_size_m": 0.025,
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@@ -1,6 +1,6 @@
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{
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{
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"schema_version": "1.0",
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"schema_version": "1.0",
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"created_utc": "2026-05-29T05:34:16Z",
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"created_utc": "2026-05-29T06:03:09Z",
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"source": {
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"source": {
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3a_aruco_detection.json",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3a_aruco_detection.json",
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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],
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],
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"rms": [
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"rms": [
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1.0114134663676055,
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0.013277718382545302,
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0.6639182528097215,
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0.0007609616355193204,
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0.5739469492087472,
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8.749646663679635e-05,
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0.5286835626522526,
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4.47706418004794e-05,
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0.4694051705223743,
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4.174347547390919e-05,
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0.3969964464975006,
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4.162024607264234e-05,
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0.3151761230050886,
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4.161840648707478e-05,
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0.22825811420039874,
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4.16183986833156e-05
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0.14334708153431971,
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0.07618149778337073,
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0.04802982967284346,
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0.04035287824536157,
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0.033959902522562355,
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0.028057435706365975,
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0.022767087572099415,
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0.018281990481919433,
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0.01422702734760535,
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0.01058775888038278,
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0.007566043482152367,
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0.005123936904466261,
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0.003261157779092087,
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0.0018882632118665536,
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0.0007684323923658777,
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0.0001398894364081004,
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4.2590187754836205e-05,
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4.161871278906256e-05,
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4.161660887281736e-05,
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4.16166073463803e-05
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],
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],
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"lambda": [
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"lambda": [
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0.001,
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0.001,
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@@ -112,158 +72,138 @@
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6.25e-05,
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1.5625e-05,
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3.90625e-06,
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4.8828125e-07,
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1.52587890625e-08,
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3.814697265625e-09,
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1.9073486328125e-09,
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9.5367431640625e-10,
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4.76837158203125e-10,
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2.384185791015625e-10,
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1.1920928955078125e-10,
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5.960464477539063e-11,
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2.980232238769531e-11,
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1.4901161193847657e-11,
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7.450580596923828e-12
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]
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]
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},
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},
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"residual_rms_px": 0.10430687360172344,
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"residual_rms_px": 0.10430687360172344,
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"residual_median_px": 0.07433889289506992,
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"residual_median_px": 0.07433889289506992,
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"residual_max_px": 0.1640622076531485,
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"residual_max_px": 0.1640622076531485,
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"sigma2_normalized": 6.92776802797649e-09
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"sigma2_normalized": 6.928364432840307e-09
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},
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},
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"camera_pose": {
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"camera_pose": {
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"world_to_camera": {
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"world_to_camera": {
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"rotation_matrix": [
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"rotation_matrix": [
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[
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[
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0.7620593309402466,
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0.7620592713356018,
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0.009086735546588898
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0.009086829610168934
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],
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],
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[
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[
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-0.27515384554862976,
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-0.9005863666534424
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],
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],
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[
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[
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0.5861364603042603,
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0.586136519908905,
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0.6837999820709229,
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0.6837999224662781,
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-0.4345821440219879
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-0.4345821440219879
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]
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]
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],
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],
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"translation_m": [
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"translation_m": [
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-273.4744567871094,
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-0.27347445487976074,
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192.1861572265625,
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0.1921861469745636,
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922.5557250976562
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],
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],
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"rvec_rad": [
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"rvec_rad": [
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1.9264447184295097,
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1.9264447207058966,
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]
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]
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},
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},
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"camera_in_world": {
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"camera_in_world": {
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"position_m": [
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"position_m": [
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-279.4590148925781,
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],
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],
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"position_mm": [
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"position_mm": [
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-279459.0,
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-279.4590759277344,
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@@ -1,6 +1,6 @@
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{
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"created_utc": "2026-05-29T06:03:10Z",
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||||||
"source": {
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3b_aruco_detection.json",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3b_aruco_detection.json",
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||||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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||||||
@@ -51,97 +51,15 @@
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@@ -1,6 +1,6 @@
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@@ -46,7 +46,7 @@
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@@ -208,7 +208,7 @@
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@@ -262,7 +262,7 @@
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@@ -316,7 +316,7 @@
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@@ -370,7 +370,7 @@
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||||||
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"confidence": 0.8888336147757544
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"observation_id": "d3d0a119-6c30-492f-9f4c-6e3fb13d8985",
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"observation_id": "93aa8eca-a954-4c99-a946-ce5f70ccfaaf",
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||||||
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"confidence": 0.7343609168978227
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"observation_id": "f5108f58-1608-4b8f-b8a0-a8b31179e150",
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||||||
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"confidence": 0.72560382306579
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"observation_id": "2ca775d6-ed4d-4ad0-85d1-1110d61be0a0",
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||||||
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@@ -1,6 +1,6 @@
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{
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||||||
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"created_utc": "2026-05-29T06:03:10Z",
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||||||
"source": {
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||||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3c_aruco_detection.json",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3c_aruco_detection.json",
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||||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
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"parameter_std": {
|
"parameter_std": {
|
||||||
"rvec_std_deg": [
|
"rvec_std_deg": [
|
||||||
5.322532023987312e-13,
|
4.043627193444188e-13,
|
||||||
3.1651761469334046e-13,
|
2.1102883748579442e-13,
|
||||||
8.272480883107961e-13
|
6.60003439958854e-13
|
||||||
],
|
],
|
||||||
"tvec_std_m": [
|
"tvec_std_m": [
|
||||||
9.424732282265575e-13,
|
1.1119937244161306e-15,
|
||||||
7.841396456299239e-13,
|
1.0973927279814154e-15,
|
||||||
3.691994708450869e-12
|
2.7590916989256335e-15
|
||||||
]
|
]
|
||||||
},
|
},
|
||||||
"camera_center_std_m": [
|
"camera_center_std_m": [
|
||||||
6.236013873929964e-12,
|
6.609895593967079e-15,
|
||||||
5.578343371266709e-12,
|
5.572407428023946e-15,
|
||||||
2.895045264319711e-12
|
4.532315948778389e-15
|
||||||
],
|
],
|
||||||
"camera_center_std_mm": [
|
"camera_center_std_mm": [
|
||||||
6.2360138739299636e-09,
|
6.609895593967079e-12,
|
||||||
5.578343371266708e-09,
|
5.5724074280239455e-12,
|
||||||
2.8950452643197107e-09
|
4.5323159487783894e-12
|
||||||
],
|
],
|
||||||
"orientation_std_deg": {
|
"orientation_std_deg": {
|
||||||
"roll": 4.550535817991357e-13,
|
"roll": 4.593062572697299e-13,
|
||||||
"pitch": 4.763282335043431e-13,
|
"pitch": 4.604301919561157e-13,
|
||||||
"yaw": 1.775861640110364e-13
|
"yaw": 1.6845365562674818e-13
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
|||||||
Reference in New Issue
Block a user