weitere Analysen

robot.json

@@ -83,7 +83,7 @@
       "color": [0.04, 0.04, 0.04]
     }
   },
-  "defaultPosition": {
+  "defaultPosition__": {
     "x": 10,
     "y": 4,
     "z": 20,
@@ -92,7 +92,7 @@
     "c": 9,
     "e": 1
   },
-  "defaultPosition____": {
+  "defaultPosition": {
     "x": 140,
     "y": 46,
     "z": -70,
@@ -110,6 +110,35 @@
     "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
+    },
+
+    "axis_alignment_threshold": 0.95
+  },
+  "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,
@@ -136,6 +165,18 @@
     "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,
+    "root_pose_min_markers": 3,
+    "use_marker_normals_flip_tiebreak": true,
+    "normal_flip_weight": 0.05
+  },
   "links": {
     "Board": {
       "parent": null,