16MPixel Bilder + Arbeiten an Statistik

data/simulation/Scene9a/pose.json

@@ -0,0 +1,49 @@
+{
+  "name": "9a",
+  "position": {
+    "x": 60,
+    "y": -2,
+    "z": 95,
+    "a": 200,
+    "b": 60,
+    "c": 9,
+    "e": 8
+  },
+  "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
+    ]
+  }
+}

data/simulation/Scene9b/pose.json

@@ -0,0 +1,49 @@
+{
+  "name": "9b",
+  "position": {
+    "x": 60,
+    "y": -2,
+    "z": 95,
+    "a": 200,
+    "b": 60,
+    "c": 9,
+    "e": 8
+  },
+  "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
+    ]
+  }
+}

data/simulation/debug/markers.json

@@ -1798,25 +1798,25 @@
     "id": 198,
     "link": "Arm1",
     "position_m": [
-      0.22999998927116394,
-      0.0587439090013504,
-      0.21731406450271606
+      0.17000000178813934,
+      -0.053141459822654724,
+      0.09089445322751999
     ],
     "position_mm": [
-      229.99998927116394,
-      58.7439090013504,
-      217.31406450271606
+      170.00000178813934,
+      -53.141459822654724,
+      90.89445322751999
     ],
     "rotation_quaternion": [
-      0.8660253882408142,
-      -0.4999999701976776,
+      0.9998477101325989,
+      0.017452426254749298,
       0.0,
       0.0
     ],
     "normal": [
       0.0,
-      0.866025447845459,
-      0.5000000596046448
+      -0.03489953652024269,
+      0.9993908405303955
     ]
   },
   {
@@ -1824,25 +1824,25 @@
     "id": 229,
     "link": "Arm1",
     "position_m": [
-      0.22999998927116394,
-      0.01374390721321106,
-      0.2952563464641571
+      0.17000000178813934,
+      -0.14308664202690125,
+      0.08775349706411362
     ],
     "position_mm": [
-      229.99998927116394,
-      13.74390721321106,
-      295.2563464641571
+      170.00000178813934,
+      -143.08664202690125,
+      87.75349706411362
     ],
     "rotation_quaternion": [
-      0.8660253882408142,
-      -0.4999999701976776,
+      0.9998477101325989,
+      0.017452426254749298,
       0.0,
       0.0
     ],
     "normal": [
       0.0,
-      0.866025447845459,
-      0.5000000596046448
+      -0.03489953652024269,
+      0.9993908405303955
     ]
   },
   {
@@ -1850,25 +1850,25 @@
     "id": 242,
     "link": "Arm1",
     "position_m": [
-      0.22999998927116394,
-      -0.04774390161037445,
-      0.2597563564777374
+      0.17000000178813934,
+      -0.1406087726354599,
+      0.016796745359897614
     ],
     "position_mm": [
-      229.99998927116394,
-      -47.74390161037445,
-      259.7563564777374
+      170.00000178813934,
+      -140.6087726354599,
+      16.796745359897614
     ],
     "rotation_quaternion": [
-      0.35355332493782043,
-      0.6123723983764648,
-      0.6123724579811096,
-      -0.3535533547401428
+      0.01234077475965023,
+      -0.7069991230964661,
+      -0.7069990634918213,
+      -0.0123407281935215
     ],
     "normal": [
-      0.0,
-      -0.866025447845459,
-      -0.5000000596046448
+      -6.332993507385254e-08,
+      0.034899599850177765,
+      -0.9993908405303955
     ]
   },
   {
@@ -1876,25 +1876,25 @@
     "id": 243,
     "link": "Arm1",
     "position_m": [
-      0.22999998927116394,
-      -0.034749992191791534,
-      0.3082502484321594
+      0.17000000178813934,
+      -0.1773260533809662,
+      0.05103618651628494
     ],
     "position_mm": [
-      229.99998927116394,
-      -34.749992191791534,
-      308.2502484321594
+      170.00000178813934,
+      -177.3260533809662,
+      51.03618651628494
     ],
     "rotation_quaternion": [
-      0.9659258127212524,
-      0.25881901383399963,
+      0.6946583986282349,
+      0.7193397879600525,
       0.0,
       0.0
     ],
     "normal": [
       0.0,
-      -0.5,
-      0.8660255074501038
+      -0.9993908405303955,
+      -0.03489944338798523
     ]
   },
   {
@@ -1902,25 +1902,25 @@
     "id": 244,
     "link": "Ellbow",
     "position_m": [
-      0.3554999828338623,
-      -0.016999997198581696,
-      0.27750635147094727
+      0.2954999804496765,
+      -0.14184769988059998,
+      0.052275121212005615
     ],
     "position_mm": [
-      355.4999828338623,
-      -16.999997198581696,
-      277.50635147094727
+      295.4999804496765,
+      -141.84769988059998,
+      52.275121212005615
     ],
     "rotation_quaternion": [
-      0.6408563852310181,
-      0.29883626103401184,
-      0.6408564448356628,
-      0.29883626103401184
+      0.48674026131629944,
+      -0.5129171013832092,
+      0.48674023151397705,
+      -0.5129171013832092
     ],
     "normal": [
       1.0,
-      2.9802318834981634e-08,
-      -9.685753354915505e-08
+      2.9802322387695312e-08,
+      2.9802322387695312e-08
     ]
   },
   {
@@ -1928,25 +1928,25 @@
     "id": 245,
     "link": "Ellbow",
     "position_m": [
-      0.3199999928474426,
-      0.010194582864642143,
-      0.2546873986721039
+      0.25999999046325684,
+      -0.17729905247688293,
+      0.05413304641842842
     ],
     "position_mm": [
-      319.9999928474426,
-      10.194582864642143,
-      254.68739867210388
+      259.99999046325684,
+      -177.29905247688293,
+      54.13304641842842
     ],
     "rotation_quaternion": [
-      0.2988363206386566,
-      -0.6408563852310181,
-      -0.6408563852310181,
-      -0.29883623123168945
+      0.5129170417785645,
+      0.48674020171165466,
+      0.4867401123046875,
+      -0.512917160987854
     ],
     "normal": [
-      -1.1920927533992653e-07,
-      0.7660444378852844,
-      -0.642787516117096
+      -2.0861628513557662e-07,
+      -0.9986295700073242,
+      0.05233597010374069
     ]
   },
   {
@@ -1954,25 +1954,25 @@
     "id": 246,
     "link": "Ellbow",
     "position_m": [
-      0.3199999928474426,
-      -0.044194579124450684,
-      0.30032530426979065
+      0.25999999046325684,
+      -0.10639634728431702,
+      0.05041719600558281
     ],
     "position_mm": [
-      319.9999928474426,
-      -44.194579124450684,
-      300.32530426979065
+      259.99999046325684,
+      -106.39634728431702,
+      50.41719600558281
     ],
     "rotation_quaternion": [
-      0.9063078165054321,
-      0.4226182997226715,
-      0.0,
-      0.0
+      0.6883546113967896,
+      -0.7253744006156921,
+      -0.0,
+      -0.0
     ],
     "normal": [
       0.0,
-      -0.7660444378852844,
-      0.6427875757217407
+      0.9986295104026794,
+      -0.05233597010374069
     ]
   },
   {
@@ -1980,25 +1980,25 @@
     "id": 247,
     "link": "Ellbow",
     "position_m": [
-      0.2824999988079071,
-      -0.044194579124450684,
-      0.30032530426979065
+      0.2224999964237213,
+      -0.10639634728431702,
+      0.05041719600558281
     ],
     "position_mm": [
-      282.4999988079071,
-      -44.194579124450684,
-      300.32530426979065
+      222.4999964237213,
+      -106.39634728431702,
+      50.41719600558281
     ],
     "rotation_quaternion": [
-      0.9063078165054321,
-      0.4226182997226715,
-      0.0,
-      0.0
+      0.6883546113967896,
+      -0.7253744006156921,
+      -0.0,
+      -0.0
     ],
     "normal": [
       0.0,
-      -0.7660444378852844,
-      0.6427875757217407
+      0.9986295104026794,
+      -0.05233597010374069
     ]
   },
   {
@@ -2006,25 +2006,25 @@
     "id": 120,
     "link": "Arm2",
     "position_m": [
-      0.3521755337715149,
-      -0.07749870419502258,
-      0.18206515908241272
+      0.22782443463802338,
+      -0.1210029348731041,
+      0.1633363962173462
     ],
     "position_mm": [
-      352.1755337715149,
-      -77.49870419502258,
-      182.06515908241272
+      227.82443463802338,
+      -121.0029348731041,
+      163.3363962173462
     ],
     "rotation_quaternion": [
-      0.4869588017463684,
-      0.227072611451149,
-      0.7643722295761108,
-      0.35643264651298523
+      0.5805524587631226,
+      -0.6117745637893677,
+      -0.36985260248184204,
+      0.38974329829216003
     ],
     "normal": [
-      0.9063078165054321,
-      0.3237444758415222,
-      -0.27165383100509644
+      -0.9063076972961426,
+      0.42203933000564575,
+      -0.022118031978607178
     ]
   },
   {
@@ -2032,25 +2032,25 @@
     "id": 122,
     "link": "Arm2",
     "position_m": [
-      0.2866409122943878,
-      -0.07969111949205399,
-      0.18390482664108276
+      0.29335907101631165,
+      -0.12386100739240646,
+      0.16348618268966675
     ],
     "position_mm": [
-      286.6409122943878,
-      -79.69111949205399,
-      183.90482664108276
+      293.35907101631165,
+      -123.86100739240646,
+      163.48618268966675
     ],
     "rotation_quaternion": [
-      0.5198368430137634,
-      0.24240390956401825,
-      -0.7424038648605347,
-      -0.34618863463401794
+      0.5638670921325684,
+      -0.5941917896270752,
+      0.3948240578174591,
+      -0.4160577356815338
     ],
     "normal": [
-      -0.9396926760673523,
-      0.2620025873184204,
-      -0.2198462188243866
+      0.9396927356719971,
+      0.34155115485191345,
+      -0.017899811267852783
     ]
   },
   {
@@ -2058,25 +2058,25 @@
     "id": 218,
     "link": "Arm2",
     "position_m": [
-      0.35335907340049744,
-      -0.09829331189393997,
-      0.19951391220092773
+      0.22664089500904083,
+      -0.14811114966869354,
+      0.16475707292556763
     ],
     "position_mm": [
-      353.35907340049744,
-      -98.29331189393997,
-      199.51391220092773
+      226.64089500904083,
+      -148.11114966869354,
+      164.75707292556763
     ],
     "rotation_quaternion": [
-      0.7424038648605347,
-      0.34618866443634033,
-      0.5198367834091187,
-      0.24240389466285706
+      0.3948240280151367,
+      -0.4160577058792114,
+      -0.5638670921325684,
+      0.59419184923172
     ],
     "normal": [
-      0.9396926164627075,
-      -0.2620026469230652,
-      0.21984624862670898
+      -0.9396926760673523,
+      -0.3415512442588806,
+      0.017899809405207634
     ]
   },
   {
@@ -2084,25 +2084,25 @@
     "id": 113,
     "link": "Arm2",
     "position_m": [
-      0.3095683753490448,
-      -0.1559426486492157,
-      0.15650895237922668
+      0.27043160796165466,
+      -0.1609439104795456,
+      0.2355256825685501
     ],
     "position_mm": [
-      309.5683753490448,
-      -155.9426486492157,
-      156.50895237922668
+      270.43160796165466,
+      -160.9439104795456,
+      235.5256825685501
     ],
     "rotation_quaternion": [
-      0.8925389647483826,
-      0.4161977469921112,
-      -0.157378688454628,
-      -0.07338690012693405
+      0.11953148245811462,
+      -0.1259598731994629,
+      0.6778969764709473,
+      -0.7143542766571045
     ],
     "normal": [
-      -0.3420201241970062,
-      -0.7198463082313538,
-      0.604022741317749
+      0.34202003479003906,
+      -0.9384048581123352,
+      0.04917958378791809
     ]
   },
   {
@@ -2110,25 +2110,25 @@
     "id": 114,
     "link": "Arm2",
     "position_m": [
-      0.3521755337715149,
-      -0.12249383330345154,
-      0.12844206392765045
+      0.22782443463802338,
+      -0.11733941733837128,
+      0.23324045538902283
     ],
     "position_mm": [
-      352.1755337715149,
-      -122.49383330345154,
-      128.44206392765045
+      227.82443463802338,
+      -117.33941733837128,
+      233.24045538902283
     ],
     "rotation_quaternion": [
-      0.4869588017463684,
-      0.227072611451149,
-      0.7643722295761108,
-      0.35643264651298523
+      0.5805524587631226,
+      -0.6117745637893677,
+      -0.36985260248184204,
+      0.38974329829216003
     ],
     "normal": [
-      0.9063078165054321,
-      0.3237444758415222,
-      -0.27165383100509644
+      -0.9063076972961426,
+      0.42203933000564575,
+      -0.022118031978607178
     ]
   },
   {
@@ -2136,25 +2136,25 @@
     "id": 115,
     "link": "Arm2",
     "position_m": [
-      0.3049963116645813,
-      -0.10933944582939148,
-      0.11740420758724213
+      0.27500370144844055,
+      -0.10019111633300781,
+      0.23234176635742188
     ],
     "position_mm": [
-      304.9963116645813,
-      -109.33944582939148,
-      117.40420758724213
+      275.00370144844055,
+      -100.19111633300781,
+      232.34176635742188
     ],
     "rotation_quaternion": [
-      0.19616089761257172,
-      0.0914713516831398,
-      -0.8848246932029724,
-      -0.4126005172729492
+      0.6720378398895264,
+      -0.7081800699234009,
+      0.148987278342247,
+      -0.15699981153011322
     ],
     "normal": [
-      -0.4226182699203491,
-      0.6942720413208008,
-      -0.5825634598731995
+      0.42261838912963867,
+      0.9050655961036682,
+      -0.047432444989681244
     ]
   },
   {
@@ -2162,25 +2162,25 @@
     "id": 124,
     "link": "Arm2",
     "position_m": [
-      0.2866409122943878,
-      -0.14846938848495483,
-      0.10193806886672974
+      0.29335907101631165,
+      -0.11826106905937195,
+      0.2703395485877991
     ],
     "position_mm": [
-      286.6409122943878,
-      -148.46938848495483,
-      101.93806886672974
+      293.35907101631165,
+      -118.26106905937195,
+      270.3395485877991
     ],
     "rotation_quaternion": [
-      0.5198368430137634,
-      0.24240390956401825,
-      -0.7424038648605347,
-      -0.34618863463401794
+      0.5638670921325684,
+      -0.5941917896270752,
+      0.3948240578174591,
+      -0.4160577356815338
     ],
     "normal": [
-      -0.9396926760673523,
-      0.2620025873184204,
-      -0.2198462188243866
+      0.9396927356719971,
+      0.34155115485191345,
+      -0.017899811267852783
     ]
   },
   {
@@ -2188,25 +2188,25 @@
     "id": 219,
     "link": "Arm2",
     "position_m": [
-      0.35335907340049744,
-      -0.16707158088684082,
-      0.11754715442657471
+      0.22664089500904083,
+      -0.14251121878623962,
+      0.27161043882369995
     ],
     "position_mm": [
-      353.35907340049744,
-      -167.07158088684082,
-      117.5471544265747
+      226.64089500904083,
+      -142.51121878623962,
+      271.61043882369995
     ],
     "rotation_quaternion": [
-      0.7424038648605347,
-      0.34618866443634033,
-      0.5198367834091187,
-      0.24240389466285706
+      0.3948240280151367,
+      -0.4160577058792114,
+      -0.5638670921325684,
+      0.59419184923172
     ],
     "normal": [
-      0.9396926164627075,
-      -0.2620026469230652,
-      0.21984624862670898
+      -0.9396926760673523,
+      -0.3415512442588806,
+      0.017899809405207634
     ]
   },
   {
@@ -2214,25 +2214,25 @@
     "id": 40,
     "link": "FingerA",
     "position_m": [
-      0.3062950074672699,
-      -0.20070452988147736,
-      0.027143435552716255
+      0.21553662419319153,
+      -0.08246307820081711,
+      0.31723877787590027
     ],
     "position_mm": [
-      306.2950074672699,
-      -200.70452988147736,
-      27.143435552716255
+      215.53662419319153,
+      -82.46307820081711,
+      317.23877787590027
     ],
     "rotation_quaternion": [
-      0.7735369801521301,
-      0.624555230140686,
-      -0.003756820224225521,
-      0.10750453174114227
+      0.25081899762153625,
+      -0.9551512002944946,
+      -0.13290834426879883,
+      -0.08432948589324951
     ],
     "normal": [
-      0.1284729540348053,
-      -0.9670408964157104,
-      0.21983331441879272
+      0.09442292153835297,
+      0.5015562772750854,
+      -0.859956681728363
     ]
   },
   {
@@ -2240,25 +2240,25 @@
     "id": 41,
     "link": "FingerA",
     "position_m": [
-      0.3252080976963043,
-      -0.15807893872261047,
-      0.0439019612967968
+      0.24487937986850739,
+      -0.11210105568170547,
+      0.34399858117103577
     ],
     "position_mm": [
-      325.2080976963043,
-      -158.07893872261047,
-      43.9019612967968
+      244.87937986850739,
+      -112.10105568170547,
+      343.99858117103577
     ],
     "rotation_quaternion": [
-      0.12317249923944473,
-      0.12240186333656311,
-      0.980786144733429,
-      0.08890976011753082
+      0.22204725444316864,
+      0.003033978631719947,
+      -0.3654671907424927,
+      -0.9039466977119446
     ],
     "normal": [
-      0.2633771598339081,
-      0.144249826669693,
-      -0.9538471698760986
+      -0.16778706014156342,
+      0.6593782901763916,
+      0.73284912109375
     ]
   },
   {
@@ -2266,25 +2266,25 @@
     "id": 42,
     "link": "FingerA",
     "position_m": [
-      0.31191036105155945,
-      -0.18646296858787537,
-      0.008502699434757233
+      0.21405166387557983,
+      -0.0764177069067955,
+      0.34054282307624817
     ],
     "position_mm": [
-      311.91036105155945,
-      -186.46296858787537,
-      8.502699434757233
+      214.05166387557983,
+      -76.4177069067955,
+      340.54282307624817
     ],
     "rotation_quaternion": [
-      0.3547179698944092,
-      0.08097859472036362,
-      -0.8743175268173218,
-      -0.3212265372276306
+      0.2647150754928589,
+      0.453290730714798,
+      -0.008107217960059643,
+      -0.8511097431182861
     ],
     "normal": [
-      -0.6722972393035889,
-      0.5042588710784912,
-      -0.5419773459434509
+      -0.7758923768997192,
+      -0.22618548572063446,
+      0.5889236330986023
     ]
   },
   {
@@ -2292,25 +2292,25 @@
     "id": 43,
     "link": "FingerB",
     "position_m": [
-      0.35388419032096863,
-      -0.17790545523166656,
-      0.03092682547867298
+      0.26951199769973755,
+      -0.07608000934123993,
+      0.34051966667175293
     ],
     "position_mm": [
-      353.8841903209686,
-      -177.90545523166656,
-      30.92682547867298
+      269.51199769973755,
+      -76.08000934123993,
+      340.51966667175293
     ],
     "rotation_quaternion": [
-      0.4389708638191223,
-      -0.470956027507782,
-      -0.6229904890060425,
-      -0.4442836344242096
+      0.7693742513656616,
+      0.23698587715625763,
+      0.11772578954696655,
+      -0.5814135074615479
     ],
     "normal": [
-      -0.1284732073545456,
-      0.9670407772064209,
-      -0.21983331441879272
+      -0.09442318975925446,
+      -0.5015563368797302,
+      0.859956681728363
     ]
   },
   {
@@ -2318,25 +2318,25 @@
     "id": 44,
     "link": "FingerB",
     "position_m": [
-      0.32767537236213684,
-      -0.21213732659816742,
-      0.0553557313978672
+      0.25280579924583435,
+      -0.08222946524620056,
+      0.2942748963832855
     ],
     "position_mm": [
-      327.67537236213684,
-      -212.13732659816742,
-      55.3557313978672
+      252.80579924583435,
+      -82.22946524620056,
+      294.2748963832855
     ],
     "rotation_quaternion": [
-      0.23388497531414032,
-      0.7835131287574768,
-      0.5606216192245483,
-      -0.13079914450645447
+      0.6558026671409607,
+      -0.4080226421356201,
+      -0.521297037601471,
+      -0.3628908097743988
     ],
     "normal": [
-      0.05727626383304596,
-      -0.5131615400314331,
-      -0.8563787937164307
+      -0.38760069012641907,
+      0.9135125875473022,
+      0.12353380024433136
     ]
   },
   {
@@ -2344,25 +2344,25 @@
     "id": 45,
     "link": "FingerB",
     "position_m": [
-      0.35379403829574585,
-      -0.19850373268127441,
-      0.01837557554244995
+      0.2614270746707916,
+      -0.055022913962602615,
+      0.3319719433784485
     ],
     "position_mm": [
-      353.79403829574585,
-      -198.5037326812744,
-      18.37557554244995
+      261.4270746707916,
+      -55.022913962602615,
+      331.9719433784485
     ],
     "rotation_quaternion": [
-      0.6868346929550171,
-      0.43043267726898193,
-      0.5849026441574097,
-      -0.029576977714896202
+      0.18035854399204254,
+      -0.6729050278663635,
+      -0.44777974486351013,
+      -0.5605023503303528
     ],
     "normal": [
-      0.7780009508132935,
-      -0.6258714199066162,
-      -0.05476672202348709
+      0.592807948589325,
+      0.7446916103363037,
+      -0.30661579966545105
     ]
   }
 ]