wenig
This commit is contained in:
chk
@@ -1,6 +1,23 @@
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{
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{
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"_label": "todo3_2026-06-11",
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"coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
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"coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
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"units": {"length": "mm", "rotation": "degree"},
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"units": {"_owner": "appRobotDriver", "length": "mm", "rotation": "degree"},
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"kinematics": {
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"_owner": "appRobotDriver",
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"type": "arm3segmentlinearx"
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},
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"motion": {
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"_owner": "appRobotDriver",
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"defaultFeedrate": 2300,
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"speedMode": "legacy",
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"speedModeOptions": ["legacy", "correct"]
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},
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"controllers": {
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"_owner": "appRobotDriver",
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"base": { "ip": "fluidNcBase.local", "port": 2300, "protocol": "telnet", "axes": ["x", "y", "z"] },
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"elbow": { "ip": "fluidNcEllbow.local", "port": 5000, "protocol": "telnet", "axes": ["a", null, null] },
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"hand": { "ip": "fluidNcHand.local", "port": 5000, "protocol": "telnet", "axes": ["c", "e", "b"] }
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},
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"vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
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"vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
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"renderingInfo": {
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"renderingInfo": {
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"width": 1280,
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"width": 1280,
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@@ -163,6 +180,7 @@
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"normal_flip_weight": 0.05
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"normal_flip_weight": 0.05
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},
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},
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"links": {
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"links": {
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"_owner": "appRobotDriver",
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"Board": {
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"Board": {
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"parent": null,
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"parent": null,
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"size": [1000, 200, 25],
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"size": [1000, 200, 25],
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@@ -273,7 +291,9 @@
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"axis": [1, 0, 0],
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"axis": [1, 0, 0],
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"origin": [0, 0, 16],
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"origin": [0, 0, 16],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "x"
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"variable": "x",
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"feedrate": 2000,
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"controller": "base"
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},
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},
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"skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"markers": [],
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"markers": [],
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@@ -297,7 +317,9 @@
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"axis": [-1, 0, 0],
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"axis": [-1, 0, 0],
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"origin": [110, 108, 45],
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"origin": [110, 108, 45],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "y"
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"variable": "y",
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"feedrate": 2300,
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"controller": "base"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
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"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
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"markers": [
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"markers": [
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@@ -327,7 +349,9 @@
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"axis": [-1, 0, 0],
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"axis": [-1, 0, 0],
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"origin": [0, -250, 0],
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"origin": [0, -250, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "z"
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"variable": "z",
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"feedrate": 2300,
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"controller": "base"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
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"skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
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"model": [
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"model": [
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@@ -358,7 +382,9 @@
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"axis": [0, -1, 0],
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"axis": [0, -1, 0],
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"origin": [90, 0, 0],
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"origin": [90, 0, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "a"
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"variable": "a",
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"feedrate": 2300,
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"controller": "elbow"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
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"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
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"model": [
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"model": [
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@@ -390,7 +416,9 @@
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"axis": [1, 0, 0],
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"axis": [1, 0, 0],
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"origin": [0, -250, 0],
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"origin": [0, -250, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "b"
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"variable": "b",
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"feedrate": 2300,
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"controller": "hand"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
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"skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
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},
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},
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@@ -404,7 +432,9 @@
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"axis": [0, -1, 0],
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"axis": [0, -1, 0],
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"origin": [0, 0, 0],
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"origin": [0, 0, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "c"
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"variable": "c",
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"feedrate": 2300,
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"controller": "hand"
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},
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},
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"skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
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"skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
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},
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},
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@@ -419,7 +449,9 @@
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"axis": [1, 0, 0],
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"axis": [1, 0, 0],
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"origin": [4, -35, 0],
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"origin": [4, -35, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "e"
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"variable": "e",
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"feedrate": 2000,
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"controller": "hand"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"markers": [
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"markers": [
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@@ -447,7 +479,9 @@
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"axis": [-1, 0, 0],
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"axis": [-1, 0, 0],
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"origin": [-4, -35, 0],
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"origin": [-4, -35, 0],
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"rotation": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "e"
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"variable": "e",
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"feedrate": 2000,
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"controller": "hand"
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},
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},
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"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
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"markers": [
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"markers": [
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BIN
data/testPictures/calibration_cam0.npz
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data/testPictures/calibration_cam0.npz
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data/testPictures/calibration_cam1.npz
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data/testPictures/calibration_cam1.npz
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data/testPictures/calibration_cam2.npz
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data/testPictures/calibration_cam2.npz
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data/testPictures/cam0_hires_1781074183695.jpg
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data/testPictures/cam0_hires_1781074183695.jpg
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After Width: | Height: | Size: 74 KiB |
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data/testPictures/cam1_hires_1781074183695.jpg
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data/testPictures/cam1_hires_1781074183695.jpg
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After Width: | Height: | Size: 66 KiB |
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data/testPictures/cam2_hires_1781074183695.jpg
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data/testPictures/cam2_hires_1781074183695.jpg
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After Width: | Height: | Size: 221 KiB |
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data/testPictures/robot_1781069752019.json
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data/testPictures/robot_1781069752019.json
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@@ -0,0 +1,433 @@
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{
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"coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
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"units": {"length": "mm", "rotation": "degree"},
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"vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
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"renderingInfo": {
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"width": 1280,
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"height": 720,
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"renderDefaults": {"width": 1280, "height": 720, "dofFStop": 11},
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"cameraPosition__1": [-10, -800, 500],
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"cameraPosition__2": [-500, 300, 1200],
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"cameraPosition__3": [-200, -900, 200],
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"cameraPosition__4": [1200, 200, 300],
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"cameraPosition_a": [-300, -800, 500],
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"cameraPosition": [-200, 200, 1400],
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"cameraPosition_c": [600, -500, 600],
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"cameraTarget": [200, -200, 180],
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"cameraUpVector": [0, 0, 1],
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"lightPosition": [-500, -500, 500],
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"lightTarget": [0, 0, 0],
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"lightUpVector": [0, 0, 1],
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"metric": "mm",
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"showSkeleton": true,
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"showMarkers": true,
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"backgroundColor": [0.7, 0.85, 1.0],
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"backgroundStrength": 0.2,
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"sunEnergy": 0.35,
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"areaEnergy": 120,
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"exposure": -1.5,
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"lensDirt": true,
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"lensDirtStrength": 0.08,
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"dofEnabled": true,
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"dofFStop": 11.0,
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"arucoDust": true,
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"arucoDustStrength": 1.6,
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"markerOffsetMaxMm": 4.0,
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"markerOffsetSeed": 0,
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"markerRotationMaxDeg": 3,
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"motionBlur": true,
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"motionBlurMaxPx": 5.5,
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"focalErrorPct": 0.5,
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"principalErrorPx": 3.0,
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"residualDistortion": [0.02, -0.01],
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"localizedBlur": false,
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"localizedBlurStrength": 0.15,
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"vignette": true,
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"vignetteStrength": 0.08,
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"sensorNoise": true,
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"sensorNoiseStrength": 0.01,
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"lensDistortion": true,
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"lensDistortionStrength": 0.002,
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"materials": {
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"wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0},
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"plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0},
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"steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0},
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"powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0},
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"defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0},
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"skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0},
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"markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0}
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},
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"skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
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"markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]},
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"defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
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},
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"defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
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"defaultPosition": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
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"recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
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"constraint_rules": {
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"rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0},
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"joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35},
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"chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15},
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"axis_alignment_threshold": 0.95
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},
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"observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true},
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"multiview_calculation": {
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"combine_mode": "mean",
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"size_ref_px": 50.0,
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"border_ref_px": 120.0,
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"center_ref_norm": 0.01,
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"sharpness_ref": 2500.0,
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"homography_ref": 0.18,
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"size_factor": 0.3,
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"aspect_factor": 0.3,
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"border_factor": 0.01,
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"center_factor": 0.01,
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"sharpness_factor": 0.5,
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"homography_factor": 0.2,
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"normal_visibility_factor": 0.01,
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"spin_factor": 0.3,
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"weight_floor": 0.3
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},
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"pose_estimation": {
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"method": "hybrid",
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"marker_observation": "corner_pose",
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"use_normals": true,
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"normal_weight": 100.0,
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"robust_loss": "huber",
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"huber_delta_mm": 8.0,
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"max_iterations": 200,
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"min_cameras_per_marker": 2,
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"finger_block_joints": ["b", "c", "e"],
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"per_link_method": {}
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},
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"robot_test_poses": {
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"4": {"x": 70, "y": 50, "z": -70, "a": 120, "b": 50, "c": 30, "e": 20},
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"5": {"x": 180, "y": 86, "z": -120, "a": -60, "b": 22, "c": 91, "e": 10},
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"6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
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"7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
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"8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
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"9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
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"9a": {
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"x": 60,
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"y": -2,
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"z": 95,
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"a": 200,
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"b": 60,
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"c": 9,
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"e": 8,
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"rendering": {"width": 1440, "height": 1080, "dofFStop": 11}
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},
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"9b": {
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"x": 60,
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"y": -2,
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"z": 95,
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"a": 200,
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"b": 60,
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"c": 9,
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"e": 8,
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"rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6}
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},
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"10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
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"11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
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"12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
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},
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"test_camera_positions": {
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"a": [-300, -800, 800],
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"b": [300, -900, 1200],
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"c": [300, -900, 400],
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"d": [700, -800, 400],
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"e": [1200, -900, 400],
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"f": [500, -300, 1400],
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"g": [-200, 200, 1400]
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},
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"test_camera_targets": {
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"a": [210, -100, 180],
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"b": [310, -80, 180],
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"c": [210, -100, 150],
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"d": [210, -100, 150],
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"e": [210, -100, 50],
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"f": [200, -200, 180],
|
||||||
|
"g": [200, -200, 180]
|
||||||
|
},
|
||||||
|
"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,
|
||||||
|
"root_pose_min_markers": 3,
|
||||||
|
"use_marker_normals_flip_tiebreak": true,
|
||||||
|
"normal_flip_weight": 0.05
|
||||||
|
},
|
||||||
|
"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]},
|
||||||
|
"markers": [
|
||||||
|
{
|
||||||
|
"id": 46,
|
||||||
|
"set": "A0",
|
||||||
|
"position": [536.71, 185.44, -27.3],
|
||||||
|
"normal": [0, 0, 1],
|
||||||
|
"spin": 90,
|
||||||
|
"info": "is placed on a white paper, A0_60Arucos_25mm_Seet223.pdf, with the following marker placements:"
|
||||||
|
},
|
||||||
|
{"id": 47, "set": "A0", "position": [344.23, -286.54, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 48, "set": "A0", "position": [688.69, -320.72, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 49, "set": "A0", "position": [1006.0, 158.33, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 50, "set": "A0", "position": [573.41, 211.86, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 51, "set": "A0", "position": [167.8, -172.08, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 52, "set": "A0", "position": [94.68, 208.66, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 53, "set": "A0", "position": [486.25, 212.24, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 54, "set": "A0", "position": [342.27, -330.59, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 55, "set": "A0", "position": [283.72, -262.58, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 56, "set": "A0", "position": [498.68, 168.67, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 57, "set": "A0", "position": [602.86, -364.05, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 58, "set": "A0", "position": [50.09, -218.11, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 59, "set": "A0", "position": [626.21, -278.75, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 60, "set": "A0", "position": [434.36, 283.81, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 61, "set": "A0", "position": [-22.42, 335.83, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 62, "set": "A0", "position": [404.7, -175.1, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 63, "set": "A0", "position": [777.4, -236.15, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 64, "set": "A0", "position": [-21.27, -188.23, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 65, "set": "A0", "position": [803.39, -297.37, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 66, "set": "A0", "position": [209.75, -363.23, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 67, "set": "A0", "position": [523.07, 267.04, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 68, "set": "A0", "position": [573.73, 170.64, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 69, "set": "A0", "position": [7.61, -281.21, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 70, "set": "A0", "position": [601.87, 300.33, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 71, "set": "A0", "position": [749.75, -284.01, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 72, "set": "A0", "position": [440.99, 194.32, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 73, "set": "A0", "position": [221.73, 333.11, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 74, "set": "A0", "position": [93.78, 144.5, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 75, "set": "A0", "position": [-25.7, 194.58, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 76, "set": "A0", "position": [685.21, 166.8, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 77, "set": "A0", "position": [18.19, 191.57, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 78, "set": "A0", "position": [823.11, -344.38, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 79, "set": "A0", "position": [312.3, -159.11, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 80, "set": "A0", "position": [863.59, -335.92, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 81, "set": "A0", "position": [132.14, 169.03, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 82, "set": "A0", "position": [219.16, 297.24, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 83, "set": "A0", "position": [44.16, 339.22, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 84, "set": "A0", "position": [407.49, 258.42, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 85, "set": "A0", "position": [504.58, -312.75, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 86, "set": "A0", "position": [362.89, 292.01, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 87, "set": "A0", "position": [943.63, -245.76, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 88, "set": "A0", "position": [765.87, 316.04, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 89, "set": "A0", "position": [988.02, -369.14, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 90, "set": "A0", "position": [643.17, 316.43, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 91, "set": "A0", "position": [723.35, 328.05, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 92, "set": "A0", "position": [645.09, -184.84, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 93, "set": "A0", "position": [934.88, 143.6, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 94, "set": "A0", "position": [875.7, 173.65, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 95, "set": "A0", "position": [186.04, -274.07, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 96, "set": "A0", "position": [369.77, -186.49, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 97, "set": "A0", "position": [304.35, -359.67, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 98, "set": "A0", "position": [575.27, 315.06, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 99, "set": "A0", "position": [959.16, -321.55, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 100, "set": "A0", "position": [803.25, 172.36, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 101, "set": "A0", "position": [117.7, 298.66, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 102, "set": "A0", "position": [649.69, -223.0, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 103, "set": "A0", "position": [105.71, -187.71, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 104, "set": "A0", "position": [826.71, 239.16, -27.3], "normal": [0, 0, 1], "spin": 90},
|
||||||
|
{"id": 105, "set": "A0", "position": [524.84, -266.25, -27.3], "normal": [0, 0, 1], "spin": 90}
|
||||||
|
],
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Board.stl",
|
||||||
|
"originOfModel": [0, 0, 0],
|
||||||
|
"rotationOfModelDegree": [0, 0, -90],
|
||||||
|
"material": "wood"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/BoardRail.stl",
|
||||||
|
"originOfModel": [0, 0, 0],
|
||||||
|
"rotationOfModelDegree": [0, 0, -90],
|
||||||
|
"material": "steel"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"Base": {
|
||||||
|
"parent": "Board",
|
||||||
|
"size": [150, 200, 150],
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Slider",
|
||||||
|
"type": "linear",
|
||||||
|
"axis": [1, 0, 0],
|
||||||
|
"origin": [0, 0, 16],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "x"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
|
||||||
|
"markers": [],
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Base.stl",
|
||||||
|
"originOfModel": [-30, 0, -35],
|
||||||
|
"rotationOfModelDegree": [0, 0, 0],
|
||||||
|
"material": "plaWhite"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"Arm1": {
|
||||||
|
"parent": "Base",
|
||||||
|
"size": [70, 250, 70],
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Joint1",
|
||||||
|
"type": "revolute",
|
||||||
|
"axis": [-1, 0, 0],
|
||||||
|
"origin": [110, 108, 45],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "y"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
|
||||||
|
"markers": [ ],
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Holm.stl",
|
||||||
|
"originOfModel__": [-25, 29, -28.5],
|
||||||
|
"originOfModel": [-29, 25, 28.5],
|
||||||
|
"rotationOfModelDegree__": [0, 0, 0],
|
||||||
|
"rotationOfModelDegree": [180, 0, -90],
|
||||||
|
"material": "powderCoatBlue"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"Ellbow": {
|
||||||
|
"parent": "Arm1",
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Joint2",
|
||||||
|
"type": "revolute",
|
||||||
|
"axis": [-1, 0, 0],
|
||||||
|
"origin": [0, -250, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "z"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Ellebogen.stl",
|
||||||
|
"originOfModel": [90, 0, 0],
|
||||||
|
"rotationOfModelDegree": [0, -90, -90],
|
||||||
|
"material": "defaultPlastic"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"markers": [
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"Arm2": {
|
||||||
|
"parent": "Ellbow",
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Joint3",
|
||||||
|
"type": "revolute",
|
||||||
|
"axis": [0, -1, 0],
|
||||||
|
"origin": [90, 0, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "a"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Unterarm.stl",
|
||||||
|
"originOfModel": [0, -250, 0],
|
||||||
|
"rotationOfModelDegree": [180, 0, -90],
|
||||||
|
"material": "defaultPlastic"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"markers": [
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"Hand": {
|
||||||
|
"parent": "Arm2",
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Joint4",
|
||||||
|
"type": "revolute",
|
||||||
|
"axis": [1, 0, 0],
|
||||||
|
"origin": [0, -250, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "b"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
|
||||||
|
},
|
||||||
|
"Palm": {
|
||||||
|
"parent": "Hand",
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Joint3",
|
||||||
|
"type": "revolute",
|
||||||
|
"axis": [0, -1, 0],
|
||||||
|
"origin": [0, 0, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "c"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
|
||||||
|
},
|
||||||
|
"FingerA": {
|
||||||
|
"parent": "Palm",
|
||||||
|
"size": [80, 60, 20],
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Slider",
|
||||||
|
"type": "linear",
|
||||||
|
"axis": [1, 0, 0],
|
||||||
|
"origin": [4, -35, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "e"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
|
||||||
|
"markers": [
|
||||||
|
],
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Finger.stl",
|
||||||
|
"originOfModel": [24, 0, -9.1],
|
||||||
|
"rotationOfModelDegree": [90, -90, 0],
|
||||||
|
"material": "defaultPlastic"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"FingerB": {
|
||||||
|
"parent": "Palm",
|
||||||
|
"size": [80, 60, 20],
|
||||||
|
"mountPosition": [0, 0, 0],
|
||||||
|
"mountRotation": [0, 0, 0],
|
||||||
|
"jointToParent": {
|
||||||
|
"name": "Slider",
|
||||||
|
"type": "linear",
|
||||||
|
"axis": [-1, 0, 0],
|
||||||
|
"origin": [-4, -35, 0],
|
||||||
|
"rotation": [0, 0, 0],
|
||||||
|
"variable": "e"
|
||||||
|
},
|
||||||
|
"skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
|
||||||
|
"markers": [
|
||||||
|
],
|
||||||
|
"model": [
|
||||||
|
{
|
||||||
|
"stlFile": "surfaces/Finger.stl",
|
||||||
|
"originOfModel": [-24, 0, 9.1],
|
||||||
|
"rotationOfModelDegree": [90, 90, 0],
|
||||||
|
"material": "defaultPlastic"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -351,6 +351,12 @@ def main():
|
|||||||
required=True
|
required=True
|
||||||
)
|
)
|
||||||
|
|
||||||
|
parser.add_argument(
|
||||||
|
'--saveDebugImage',
|
||||||
|
action='store_true',
|
||||||
|
help='Speichert ein Debug-JPG mit eingezeichneten Marker-Rahmen'
|
||||||
|
)
|
||||||
|
|
||||||
args = parser.parse_args()
|
args = parser.parse_args()
|
||||||
|
|
||||||
out_dir = resolve_path(args.outDir)
|
out_dir = resolve_path(args.outDir)
|
||||||
@@ -404,6 +410,9 @@ def main():
|
|||||||
detector_tuple
|
detector_tuple
|
||||||
)
|
)
|
||||||
|
|
||||||
|
# ids_raw: original numpy array für drawDetectedMarkers
|
||||||
|
ids_raw = ids
|
||||||
|
|
||||||
detections = []
|
detections = []
|
||||||
|
|
||||||
# --------------------------------------------------------
|
# --------------------------------------------------------
|
||||||
@@ -601,6 +610,25 @@ def main():
|
|||||||
|
|
||||||
print(f'Saved: {out_json}')
|
print(f'Saved: {out_json}')
|
||||||
|
|
||||||
|
# --------------------------------------------------------
|
||||||
|
# Debug-Bild mit Marker-Rahmen
|
||||||
|
# --------------------------------------------------------
|
||||||
|
|
||||||
|
if args.saveDebugImage:
|
||||||
|
|
||||||
|
debug_img = image.copy()
|
||||||
|
|
||||||
|
if corners_list and ids_raw is not None:
|
||||||
|
cv2.aruco.drawDetectedMarkers(debug_img, corners_list, ids_raw)
|
||||||
|
|
||||||
|
debug_path = os.path.join(
|
||||||
|
out_dir,
|
||||||
|
f'{input_base}_debug.jpg'
|
||||||
|
)
|
||||||
|
|
||||||
|
cv2.imwrite(debug_path, debug_img)
|
||||||
|
print(f'Saved debug: {debug_path}')
|
||||||
|
|
||||||
|
|
||||||
# ------------------------------------------------------------
|
# ------------------------------------------------------------
|
||||||
|
|
||||||
|
|||||||
424
test/jRun.py
Normal file
424
test/jRun.py
Normal file
@@ -0,0 +1,424 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""
|
||||||
|
jRun.py – Test-Pipeline: detect → camera-pose → ArUco-CSV
|
||||||
|
|
||||||
|
Ablauf:
|
||||||
|
1. pipeline/1_detect_aruco_observations.py pro Bild → test/temp/
|
||||||
|
2. pipeline/2_estimate_camera_from_observations.py pro Bild → test/temp/
|
||||||
|
3. Positionen + Normalen per solvePnP aus Beobachtungen ableiten,
|
||||||
|
über alle Kameras mitteln, nach ID sortieren
|
||||||
|
4. test/temp/detections.csv schreiben: id, set, x, y, z, nx, ny, nz
|
||||||
|
|
||||||
|
Einheiten: x/y/z in mm (Weltframe des Roboters), nx/ny/nz dimensionslos.
|
||||||
|
"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import csv
|
||||||
|
import glob
|
||||||
|
import json
|
||||||
|
import os
|
||||||
|
import re
|
||||||
|
import subprocess
|
||||||
|
import sys
|
||||||
|
from typing import Dict, List, Optional, Tuple
|
||||||
|
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Pfade
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
|
||||||
|
PROJECT_ROOT = os.path.dirname(SCRIPT_DIR)
|
||||||
|
PIPELINE_DIR = os.path.join(PROJECT_ROOT, "pipeline")
|
||||||
|
DATA_DIR = os.path.join(PROJECT_ROOT, "data", "testPictures")
|
||||||
|
TEMP_DIR = os.path.join(SCRIPT_DIR, "temp")
|
||||||
|
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Hilfsfunktionen – Dateien
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
def find_images() -> List[str]:
|
||||||
|
return sorted(glob.glob(os.path.join(DATA_DIR, "cam*_hires_*.jpg")))
|
||||||
|
|
||||||
|
|
||||||
|
def cam_id_from_path(img_path: str) -> str:
|
||||||
|
m = re.match(r"(cam\d+)_", os.path.basename(img_path))
|
||||||
|
if not m:
|
||||||
|
raise ValueError(f"Kein Camera-ID in Dateiname: {img_path}")
|
||||||
|
return m.group(1)
|
||||||
|
|
||||||
|
|
||||||
|
def npz_path(cam_id: str) -> str:
|
||||||
|
p = os.path.join(DATA_DIR, f"calibration_{cam_id}.npz")
|
||||||
|
if not os.path.exists(p):
|
||||||
|
raise FileNotFoundError(f"Kalibrierung nicht gefunden: {p}")
|
||||||
|
return p
|
||||||
|
|
||||||
|
|
||||||
|
def find_robot_json() -> str:
|
||||||
|
candidates = glob.glob(os.path.join(DATA_DIR, "robot*.json"))
|
||||||
|
if not candidates:
|
||||||
|
raise FileNotFoundError(f"Kein robot*.json in {DATA_DIR}")
|
||||||
|
return sorted(candidates)[0]
|
||||||
|
|
||||||
|
|
||||||
|
def detection_json_path(img_path: str) -> str:
|
||||||
|
base = os.path.splitext(os.path.basename(img_path))[0]
|
||||||
|
return os.path.join(TEMP_DIR, f"{base}_aruco_detection.json")
|
||||||
|
|
||||||
|
|
||||||
|
def camera_pose_json_path(img_path: str) -> str:
|
||||||
|
base = os.path.splitext(os.path.basename(img_path))[0]
|
||||||
|
return os.path.join(TEMP_DIR, f"{base}_camera_pose.json")
|
||||||
|
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Subprocess-Wrapper
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
def run_step(cmd: List[str]) -> None:
|
||||||
|
print(f"\n>>> {' '.join(cmd)}")
|
||||||
|
r = subprocess.run(cmd, text=True)
|
||||||
|
if r.returncode != 0:
|
||||||
|
raise RuntimeError(f"Befehl fehlgeschlagen (exit {r.returncode})")
|
||||||
|
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Marker-Klassifizierung aus robot.json
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
def load_marker_set_map(robot_path: str) -> Dict[int, str]:
|
||||||
|
"""
|
||||||
|
Gibt marker_id -> Set-Label zurück.
|
||||||
|
'set'-Marker → set_name (z.B. 'Brett', 'A0')
|
||||||
|
Arm/Loose → Link-Name
|
||||||
|
"""
|
||||||
|
if PIPELINE_DIR not in sys.path:
|
||||||
|
sys.path.insert(0, PIPELINE_DIR)
|
||||||
|
|
||||||
|
# Import erst nach sys.path-Erweiterung
|
||||||
|
from marker_sets import classify_markers # noqa: PLC0415
|
||||||
|
|
||||||
|
with open(robot_path, "r", encoding="utf-8") as f:
|
||||||
|
robot_data = json.load(f)
|
||||||
|
|
||||||
|
classification = classify_markers(robot_data)
|
||||||
|
result: Dict[int, str] = {}
|
||||||
|
for mid, info in classification.items():
|
||||||
|
if info.role == "set" and info.set_name:
|
||||||
|
result[mid] = info.set_name
|
||||||
|
else:
|
||||||
|
result[mid] = info.link
|
||||||
|
return result
|
||||||
|
|
||||||
|
|
||||||
|
def load_a0_reference(robot_path: str) -> Dict[int, np.ndarray]:
|
||||||
|
"""
|
||||||
|
Welt-Referenz (x, y) in mm für die A0-Marker aus robot.json.
|
||||||
|
|
||||||
|
Nur die A0-Marker definieren (momentan) die Welt-Koordinaten, daher wird
|
||||||
|
der dxy-Abgleich ausschließlich auf sie beschränkt. Position steht im
|
||||||
|
Board-Frame = Welt-Frame (Board ist Wurzel-Link bei [0,0,0]).
|
||||||
|
"""
|
||||||
|
if PIPELINE_DIR not in sys.path:
|
||||||
|
sys.path.insert(0, PIPELINE_DIR)
|
||||||
|
|
||||||
|
from marker_sets import classify_markers # noqa: PLC0415
|
||||||
|
|
||||||
|
with open(robot_path, "r", encoding="utf-8") as f:
|
||||||
|
robot_data = json.load(f)
|
||||||
|
|
||||||
|
ref: Dict[int, np.ndarray] = {}
|
||||||
|
for mid, info in classify_markers(robot_data).items():
|
||||||
|
if info.role == "set" and info.set_name == "A0":
|
||||||
|
ref[mid] = np.array(info.position[:2], dtype=float)
|
||||||
|
return ref
|
||||||
|
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Positionen + Normalen per solvePnP
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
def _marker_local_corners(marker_size_m: float) -> np.ndarray:
|
||||||
|
h = marker_size_m / 2.0
|
||||||
|
return np.array([
|
||||||
|
[-h, h, 0.0],
|
||||||
|
[ h, h, 0.0],
|
||||||
|
[ h, -h, 0.0],
|
||||||
|
[-h, -h, 0.0],
|
||||||
|
], dtype=np.float32)
|
||||||
|
|
||||||
|
|
||||||
|
def estimate_marker_poses(
|
||||||
|
det_json: dict,
|
||||||
|
pose_json: dict,
|
||||||
|
) -> Dict[int, Tuple[np.ndarray, np.ndarray]]:
|
||||||
|
"""
|
||||||
|
Gibt pro erkannter Marker-ID: (pos_mm [3], normal_world [3]) zurück.
|
||||||
|
|
||||||
|
pos_mm: Marker-Mittelpunkt im Weltframe, Einheit mm
|
||||||
|
normal_world: normierter Normalenvektor (Marker-Z-Achse im Weltframe)
|
||||||
|
"""
|
||||||
|
K = np.array(det_json["camera"]["camera_matrix"],
|
||||||
|
dtype=np.float64).reshape(3, 3)
|
||||||
|
D = np.array(det_json["camera"]["distortion_coefficients"],
|
||||||
|
dtype=np.float64).reshape(-1, 1)
|
||||||
|
marker_size_m = float(
|
||||||
|
det_json.get("vision_config", {}).get("MarkerSize", 0.025)
|
||||||
|
)
|
||||||
|
|
||||||
|
w2c = pose_json["camera_pose"]["world_to_camera"]
|
||||||
|
R_wc = np.array(w2c["rotation_matrix"], dtype=np.float64).reshape(3, 3)
|
||||||
|
t_wc = np.array(w2c["translation_m"], dtype=np.float64).reshape(3)
|
||||||
|
|
||||||
|
obj_corners = _marker_local_corners(marker_size_m)
|
||||||
|
result: Dict[int, Tuple[np.ndarray, np.ndarray]] = {}
|
||||||
|
|
||||||
|
for det in det_json.get("detections", []):
|
||||||
|
mid = int(det["marker_id"])
|
||||||
|
corners_px = np.array(
|
||||||
|
det["image_points_px"], dtype=np.float32
|
||||||
|
).reshape(4, 2)
|
||||||
|
|
||||||
|
ok, rvec, tvec = cv2.solvePnP(
|
||||||
|
obj_corners, corners_px,
|
||||||
|
K.astype(np.float32), D.astype(np.float32),
|
||||||
|
flags=cv2.SOLVEPNP_IPPE_SQUARE,
|
||||||
|
)
|
||||||
|
if not ok:
|
||||||
|
ok, rvec, tvec = cv2.solvePnP(
|
||||||
|
obj_corners, corners_px,
|
||||||
|
K.astype(np.float32), D.astype(np.float32),
|
||||||
|
flags=cv2.SOLVEPNP_ITERATIVE,
|
||||||
|
)
|
||||||
|
if not ok:
|
||||||
|
continue
|
||||||
|
|
||||||
|
tvec_f = tvec.reshape(3).astype(np.float64)
|
||||||
|
R_mc, _ = cv2.Rodrigues(rvec.reshape(3, 1))
|
||||||
|
R_mc = R_mc.astype(np.float64)
|
||||||
|
|
||||||
|
# Weltframe-Position: x_world = R_wc.T @ (x_cam - t_wc)
|
||||||
|
pos_world_m = R_wc.T @ (tvec_f - t_wc)
|
||||||
|
|
||||||
|
# Marker-Normale (Z-Achse) im Weltframe
|
||||||
|
normal_cam = R_mc[:, 2]
|
||||||
|
normal_world = R_wc.T @ normal_cam
|
||||||
|
nlen = np.linalg.norm(normal_world)
|
||||||
|
if nlen > 1e-9:
|
||||||
|
normal_world /= nlen
|
||||||
|
|
||||||
|
result[mid] = (pos_world_m * 1000.0, normal_world)
|
||||||
|
|
||||||
|
return result
|
||||||
|
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Main
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
def main() -> None:
|
||||||
|
os.makedirs(TEMP_DIR, exist_ok=True)
|
||||||
|
|
||||||
|
images = find_images()
|
||||||
|
if not images:
|
||||||
|
print(f"[FEHLER] Keine cam*_hires_*.jpg in {DATA_DIR}")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
robot_path = find_robot_json()
|
||||||
|
print(f"Robot: {os.path.basename(robot_path)}")
|
||||||
|
print(f"Bilder: {[os.path.basename(i) for i in images]}")
|
||||||
|
print(f"Ausgabe-Ordner: {TEMP_DIR}")
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
# Schritt 1: ArUco-Erkennung
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
print("\n" + "=" * 60)
|
||||||
|
print("Schritt 1: ArUco-Erkennung")
|
||||||
|
print("=" * 60)
|
||||||
|
for img in images:
|
||||||
|
cam_id = cam_id_from_path(img)
|
||||||
|
run_step([
|
||||||
|
sys.executable,
|
||||||
|
os.path.join(PIPELINE_DIR, "1_detect_aruco_observations.py"),
|
||||||
|
"-i", img,
|
||||||
|
"-npz", npz_path(cam_id),
|
||||||
|
"-robot", robot_path,
|
||||||
|
"-cameraId", cam_id,
|
||||||
|
"-outDir", TEMP_DIR,
|
||||||
|
"--saveDebugImage",
|
||||||
|
])
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
# Schritt 2: Kamera-Positionen
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
print("\n" + "=" * 60)
|
||||||
|
print("Schritt 2: Kamera-Poses")
|
||||||
|
print("=" * 60)
|
||||||
|
for img in images:
|
||||||
|
run_step([
|
||||||
|
sys.executable,
|
||||||
|
os.path.join(PIPELINE_DIR, "2_estimate_camera_from_observations.py"),
|
||||||
|
"-i", detection_json_path(img),
|
||||||
|
"-robot", robot_path,
|
||||||
|
"-outDir", TEMP_DIR,
|
||||||
|
])
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
# Schritt 3: Beobachtungen zusammenführen
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
print("\n" + "=" * 60)
|
||||||
|
print("Schritt 3: Positionen + Normalen")
|
||||||
|
print("=" * 60)
|
||||||
|
|
||||||
|
marker_set_map = load_marker_set_map(robot_path)
|
||||||
|
a0_ref = load_a0_reference(robot_path)
|
||||||
|
|
||||||
|
# mid -> Liste von (pos_mm, normal)
|
||||||
|
observations: Dict[int, List[Tuple[np.ndarray, np.ndarray]]] = {}
|
||||||
|
|
||||||
|
# cam_id -> Welt-Position (mm) / QA-Metadaten
|
||||||
|
camera_positions: Dict[str, np.ndarray] = {}
|
||||||
|
camera_meta: Dict[str, dict] = {}
|
||||||
|
|
||||||
|
for img in images:
|
||||||
|
det_path = detection_json_path(img)
|
||||||
|
pose_path = camera_pose_json_path(img)
|
||||||
|
|
||||||
|
if not os.path.exists(det_path):
|
||||||
|
print(f"[WARN] Fehlend: {det_path}")
|
||||||
|
continue
|
||||||
|
if not os.path.exists(pose_path):
|
||||||
|
print(f"[WARN] Fehlend: {pose_path}")
|
||||||
|
continue
|
||||||
|
|
||||||
|
with open(det_path, "r", encoding="utf-8") as f:
|
||||||
|
det_json = json.load(f)
|
||||||
|
with open(pose_path, "r", encoding="utf-8") as f:
|
||||||
|
pose_json = json.load(f)
|
||||||
|
|
||||||
|
cam_id = cam_id_from_path(img)
|
||||||
|
ciw = pose_json["camera_pose"]["camera_in_world"]["position_mm"]
|
||||||
|
camera_positions[cam_id] = np.array(ciw, dtype=float)
|
||||||
|
est = pose_json.get("estimation", {})
|
||||||
|
camera_meta[cam_id] = {
|
||||||
|
"rms_px": est.get("residual_rms_px"),
|
||||||
|
"num_markers": est.get("num_used_markers"),
|
||||||
|
}
|
||||||
|
|
||||||
|
cam_name = os.path.basename(img)
|
||||||
|
poses = estimate_marker_poses(det_json, pose_json)
|
||||||
|
print(f" {cam_name}: {len(poses)} Marker mit Pose")
|
||||||
|
|
||||||
|
for mid, pn in poses.items():
|
||||||
|
observations.setdefault(mid, []).append(pn)
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
# Mittelwert über alle Kameras + CSV schreiben
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
rows = []
|
||||||
|
for mid in sorted(observations.keys()):
|
||||||
|
obs_list = observations[mid]
|
||||||
|
positions = np.array([p for p, _ in obs_list])
|
||||||
|
normals = np.array([n for _, n in obs_list])
|
||||||
|
|
||||||
|
pos_mean = positions.mean(axis=0)
|
||||||
|
|
||||||
|
n_sum = normals.sum(axis=0)
|
||||||
|
n_norm = np.linalg.norm(n_sum)
|
||||||
|
normal_mean = n_sum / n_norm if n_norm > 1e-9 else np.array([0.0, 0.0, 1.0])
|
||||||
|
|
||||||
|
set_label = marker_set_map.get(mid, "?")
|
||||||
|
|
||||||
|
# dxy: planarer Abgleich gegen robot.json — nur für A0 definiert
|
||||||
|
if mid in a0_ref:
|
||||||
|
d = pos_mean[:2] - a0_ref[mid]
|
||||||
|
dxy = round(float(np.hypot(d[0], d[1])), 2)
|
||||||
|
else:
|
||||||
|
dxy = ""
|
||||||
|
|
||||||
|
rows.append({
|
||||||
|
"id": mid,
|
||||||
|
"set": set_label,
|
||||||
|
"SeenByCount": len(obs_list),
|
||||||
|
"x": round(float(pos_mean[0]), 2),
|
||||||
|
"y": round(float(pos_mean[1]), 2),
|
||||||
|
"z": round(float(pos_mean[2]), 2),
|
||||||
|
"nx": round(float(normal_mean[0]), 4),
|
||||||
|
"ny": round(float(normal_mean[1]), 4),
|
||||||
|
"nz": round(float(normal_mean[2]), 4),
|
||||||
|
"dxy": dxy,
|
||||||
|
})
|
||||||
|
|
||||||
|
# Kamera-Positionen als eigene Zeilen (oben in der CSV)
|
||||||
|
camera_rows = []
|
||||||
|
for cam_id in sorted(camera_positions.keys()):
|
||||||
|
pos = camera_positions[cam_id]
|
||||||
|
camera_rows.append({
|
||||||
|
"id": cam_id,
|
||||||
|
"set": "CAMERA",
|
||||||
|
"SeenByCount": "",
|
||||||
|
"x": round(float(pos[0]), 2),
|
||||||
|
"y": round(float(pos[1]), 2),
|
||||||
|
"z": round(float(pos[2]), 2),
|
||||||
|
"nx": "",
|
||||||
|
"ny": "",
|
||||||
|
"nz": "",
|
||||||
|
"dxy": "",
|
||||||
|
})
|
||||||
|
|
||||||
|
csv_path = os.path.join(TEMP_DIR, "detections.csv")
|
||||||
|
fieldnames = ["id", "set", "SeenByCount", "x", "y", "z", "nx", "ny", "nz", "dxy"]
|
||||||
|
|
||||||
|
with open(csv_path, "w", newline="", encoding="utf-8") as f:
|
||||||
|
writer = csv.DictWriter(f, fieldnames=fieldnames)
|
||||||
|
writer.writeheader()
|
||||||
|
writer.writerows(camera_rows + rows)
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
# Konsolenübersicht
|
||||||
|
# ------------------------------------------------------------------
|
||||||
|
print(f"\nGeschrieben: {csv_path} "
|
||||||
|
f"({len(rows)} Marker + {len(camera_rows)} Kameras)\n")
|
||||||
|
|
||||||
|
# Kamera-Positionen + Reprojektions-RMS (schlechte Kamera erkennen)
|
||||||
|
print("Kamera-Positionen (Welt, mm):")
|
||||||
|
chdr = f"{'cam':>5} {'x':>9} {'y':>9} {'z':>9} {'rms_px':>7} {'#mk':>4}"
|
||||||
|
print(chdr)
|
||||||
|
print("-" * len(chdr))
|
||||||
|
for cam_id in sorted(camera_positions.keys()):
|
||||||
|
pos = camera_positions[cam_id]
|
||||||
|
meta = camera_meta.get(cam_id, {})
|
||||||
|
rms = meta.get("rms_px")
|
||||||
|
nmk = meta.get("num_markers")
|
||||||
|
rms_s = f"{rms:7.2f}" if rms is not None else " n/a"
|
||||||
|
print(f"{cam_id:>5} {pos[0]:>9.1f} {pos[1]:>9.1f} {pos[2]:>9.1f} "
|
||||||
|
f"{rms_s} {str(nmk):>4}")
|
||||||
|
|
||||||
|
# Marker-Tabelle
|
||||||
|
print()
|
||||||
|
hdr = (f"{'id':>5} {'set':<12} {'cams':>4} {'x':>8} {'y':>8} {'z':>8} "
|
||||||
|
f"{'nx':>7} {'ny':>7} {'nz':>7} {'dxy':>7}")
|
||||||
|
print(hdr)
|
||||||
|
print("-" * len(hdr))
|
||||||
|
for row in rows:
|
||||||
|
dxy_s = f"{row['dxy']:7.2f}" if row['dxy'] != "" else " -"
|
||||||
|
print(
|
||||||
|
f"{row['id']:>5} {row['set']:<12} {row['SeenByCount']:>4} "
|
||||||
|
f"{row['x']:>8.1f} {row['y']:>8.1f} {row['z']:>8.1f} "
|
||||||
|
f"{row['nx']:>7.4f} {row['ny']:>7.4f} {row['nz']:>7.4f} {dxy_s}"
|
||||||
|
)
|
||||||
|
|
||||||
|
# A0-Abgleich-Statistik (planarer Fehler gegen robot.json)
|
||||||
|
dxys = np.array([row["dxy"] for row in rows if row["dxy"] != ""], dtype=float)
|
||||||
|
if dxys.size:
|
||||||
|
print(f"\nA0 dxy (Welt-Abgleich, mm): n={dxys.size} "
|
||||||
|
f"mean={dxys.mean():.2f} median={np.median(dxys):.2f} "
|
||||||
|
f"max={dxys.max():.2f}")
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
2956
test/temp/cam0_hires_1781074183695_aruco_detection.json
Normal file
2956
test/temp/cam0_hires_1781074183695_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
719
test/temp/cam0_hires_1781074183695_camera_pose.json
Normal file
719
test/temp/cam0_hires_1781074183695_camera_pose.json
Normal file
@@ -0,0 +1,719 @@
|
|||||||
|
{
|
||||||
|
"schema_version": "1.0",
|
||||||
|
"created_utc": "2026-06-10T10:41:07Z",
|
||||||
|
"source": {
|
||||||
|
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\test\\temp\\cam0_hires_1781074183695_aruco_detection.json",
|
||||||
|
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\testPictures\\robot_1781069752019.json"
|
||||||
|
},
|
||||||
|
"camera": {
|
||||||
|
"camera_id": "cam0",
|
||||||
|
"camera_matrix": [
|
||||||
|
[
|
||||||
|
1429.6978759765625,
|
||||||
|
0.0,
|
||||||
|
633.3245239257812
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
1414.5067138671875,
|
||||||
|
468.4399108886719
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
1.0
|
||||||
|
]
|
||||||
|
],
|
||||||
|
"distortion_coefficients": [
|
||||||
|
0.0862322673201561,
|
||||||
|
0.14179007709026337,
|
||||||
|
0.0014998731203377247,
|
||||||
|
-0.004277258180081844,
|
||||||
|
-0.7496029734611511
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"estimation": {
|
||||||
|
"method": "single_camera_marker_center_lm",
|
||||||
|
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
|
||||||
|
"marker_size_m": 0.025,
|
||||||
|
"num_used_markers": 37,
|
||||||
|
"used_marker_ids": [
|
||||||
|
95,
|
||||||
|
97,
|
||||||
|
51,
|
||||||
|
55,
|
||||||
|
54,
|
||||||
|
47,
|
||||||
|
79,
|
||||||
|
96,
|
||||||
|
85,
|
||||||
|
62,
|
||||||
|
57,
|
||||||
|
105,
|
||||||
|
59,
|
||||||
|
48,
|
||||||
|
102,
|
||||||
|
86,
|
||||||
|
71,
|
||||||
|
92,
|
||||||
|
72,
|
||||||
|
84,
|
||||||
|
65,
|
||||||
|
80,
|
||||||
|
89,
|
||||||
|
60,
|
||||||
|
56,
|
||||||
|
63,
|
||||||
|
99,
|
||||||
|
68,
|
||||||
|
46,
|
||||||
|
87,
|
||||||
|
67,
|
||||||
|
50,
|
||||||
|
98,
|
||||||
|
76,
|
||||||
|
70,
|
||||||
|
100,
|
||||||
|
91
|
||||||
|
],
|
||||||
|
"history": {
|
||||||
|
"iters": [
|
||||||
|
0,
|
||||||
|
1,
|
||||||
|
2,
|
||||||
|
3
|
||||||
|
],
|
||||||
|
"rms": [
|
||||||
|
0.013977914197306877,
|
||||||
|
0.0012063861436378766,
|
||||||
|
0.00041790882674225575,
|
||||||
|
0.000417864448222557
|
||||||
|
],
|
||||||
|
"lambda": [
|
||||||
|
0.001,
|
||||||
|
0.0005,
|
||||||
|
0.00025,
|
||||||
|
0.000125
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"residual_rms_px": 0.8488907668283678,
|
||||||
|
"residual_median_px": 0.6015952243821542,
|
||||||
|
"residual_max_px": 3.215993321685572,
|
||||||
|
"sigma2_normalized": 1.900175232935359e-07
|
||||||
|
},
|
||||||
|
"camera_pose": {
|
||||||
|
"world_to_camera": {
|
||||||
|
"rotation_matrix": [
|
||||||
|
[
|
||||||
|
0.7153297066688538,
|
||||||
|
-0.6744856238365173,
|
||||||
|
0.18268170952796936
|
||||||
|
],
|
||||||
|
[
|
||||||
|
-0.24956846237182617,
|
||||||
|
-0.4907773733139038,
|
||||||
|
-0.834777295589447
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.6527013182640076,
|
||||||
|
0.5515493750572205,
|
||||||
|
-0.5193979740142822
|
||||||
|
]
|
||||||
|
],
|
||||||
|
"translation_m": [
|
||||||
|
-0.5062417984008789,
|
||||||
|
0.09014879167079926,
|
||||||
|
0.7660393714904785
|
||||||
|
],
|
||||||
|
"rvec_rad": [
|
||||||
|
2.0691228499009884,
|
||||||
|
-0.7015145339853286,
|
||||||
|
0.6341981126084956
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"camera_in_world": {
|
||||||
|
"position_m": [
|
||||||
|
-0.11536678671836853,
|
||||||
|
-0.719718337059021,
|
||||||
|
0.5656145811080933
|
||||||
|
],
|
||||||
|
"position_mm": [
|
||||||
|
-115.36678314208984,
|
||||||
|
-719.7183227539062,
|
||||||
|
565.6145629882812
|
||||||
|
],
|
||||||
|
"orientation_deg": {
|
||||||
|
"roll": 133.28041076660156,
|
||||||
|
"pitch": -40.74557876586914,
|
||||||
|
"yaw": -19.2331600189209
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"uncertainty": {
|
||||||
|
"pose_covariance_6x6": [
|
||||||
|
[
|
||||||
|
2.384673507521362e-07,
|
||||||
|
-4.007478825357904e-08,
|
||||||
|
-8.83056895699674e-08,
|
||||||
|
-2.241640771133345e-08,
|
||||||
|
5.7720270356521624e-08,
|
||||||
|
1.378850799895014e-07
|
||||||
|
],
|
||||||
|
[
|
||||||
|
-4.0074788253579336e-08,
|
||||||
|
1.2484717569362809e-07,
|
||||||
|
5.533958978882963e-08,
|
||||||
|
-4.109574324899393e-09,
|
||||||
|
-6.375572286576732e-08,
|
||||||
|
-3.447971573741165e-08
|
||||||
|
],
|
||||||
|
[
|
||||||
|
-8.830568956996727e-08,
|
||||||
|
5.533958978882929e-08,
|
||||||
|
3.5195680429658137e-07,
|
||||||
|
7.077668257887362e-08,
|
||||||
|
-9.83714238710889e-08,
|
||||||
|
-1.8066440288226506e-07
|
||||||
|
],
|
||||||
|
[
|
||||||
|
-2.2416407711333367e-08,
|
||||||
|
-4.10957432489948e-09,
|
||||||
|
7.07766825788736e-08,
|
||||||
|
2.2608963627527025e-08,
|
||||||
|
-1.477120449173928e-08,
|
||||||
|
-4.530858533789268e-08
|
||||||
|
],
|
||||||
|
[
|
||||||
|
5.772027035652173e-08,
|
||||||
|
-6.375572286576727e-08,
|
||||||
|
-9.837142387108908e-08,
|
||||||
|
-1.4771204491739334e-08,
|
||||||
|
5.6162582570999035e-08,
|
||||||
|
7.030683489124922e-08
|
||||||
|
],
|
||||||
|
[
|
||||||
|
1.3788507998950147e-07,
|
||||||
|
-3.44797157374115e-08,
|
||||||
|
-1.8066440288226543e-07,
|
||||||
|
-4.53085853378928e-08,
|
||||||
|
7.030683489124922e-08,
|
||||||
|
2.3454528563310696e-07
|
||||||
|
]
|
||||||
|
],
|
||||||
|
"parameter_std": {
|
||||||
|
"rvec_std_deg": [
|
||||||
|
0.02797931616962056,
|
||||||
|
0.020244730206848253,
|
||||||
|
0.03399126405526364
|
||||||
|
],
|
||||||
|
"tvec_std_m": [
|
||||||
|
0.00015036277340993356,
|
||||||
|
0.0002369864607335175,
|
||||||
|
0.0004842987565884378
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"camera_center_std_m": [
|
||||||
|
0.0003928571281192472,
|
||||||
|
0.00037055936963847897,
|
||||||
|
0.0005785760565158723
|
||||||
|
],
|
||||||
|
"camera_center_std_mm": [
|
||||||
|
0.39285712811924717,
|
||||||
|
0.37055936963847896,
|
||||||
|
0.5785760565158723
|
||||||
|
],
|
||||||
|
"orientation_std_deg": {
|
||||||
|
"roll": 0.034843440181318734,
|
||||||
|
"pitch": 0.02499050875561387,
|
||||||
|
"yaw": 0.029035517784143414
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"observations": {
|
||||||
|
"markers": [
|
||||||
|
{
|
||||||
|
"marker_id": 95,
|
||||||
|
"observed_center_px": [
|
||||||
|
259.25,
|
||||||
|
854.0
|
||||||
|
],
|
||||||
|
"projected_center_px": [
|
||||||
|
258.490478515625,
|
||||||
|
853.5327758789062
|
||||||
|
],
|
||||||
|
"reprojection_error_px": 0.8917237602301682,
|
||||||
|
"confidence": 0.8258754592596019
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_id": 97,
|
||||||
|
"observed_center_px": [
|
||||||
|
538.5,
|
||||||
|
857.75
|
||||||
|
],
|
||||||
|
"projected_center_px": [
|
||||||
|
538.7420654296875,
|
||||||
|
858.910888671875
|
||||||
|
],
|
||||||
|
"reprojection_error_px": 1.1858575718599158,
|
||||||
|
"confidence": 0.9204299158225671
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"marker_id": 51,
|
||||||
|
"observed_center_px": [
|
||||||
|
129.5,
|
||||||
|
750.75
|
||||||
|
],
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BIN
test/temp/cam0_hires_1781074183695_debug.jpg
Normal file
BIN
test/temp/cam0_hires_1781074183695_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 205 KiB |
1850
test/temp/cam1_hires_1781074183695_aruco_detection.json
Normal file
1850
test/temp/cam1_hires_1781074183695_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
551
test/temp/cam1_hires_1781074183695_camera_pose.json
Normal file
551
test/temp/cam1_hires_1781074183695_camera_pose.json
Normal file
@@ -0,0 +1,551 @@
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|||||||
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BIN
test/temp/cam1_hires_1781074183695_debug.jpg
Normal file
BIN
test/temp/cam1_hires_1781074183695_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 174 KiB |
3433
test/temp/cam2_hires_1781074183695_aruco_detection.json
Normal file
3433
test/temp/cam2_hires_1781074183695_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
929
test/temp/cam2_hires_1781074183695_camera_pose.json
Normal file
929
test/temp/cam2_hires_1781074183695_camera_pose.json
Normal file
@@ -0,0 +1,929 @@
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test/temp/cam2_hires_1781074183695_debug.jpg
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test/temp/cam2_hires_1781074183695_debug.jpg
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After Width: | Height: | Size: 384 KiB |
70
test/temp/detections.csv
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70
test/temp/detections.csv
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||||||
|
96,A0,3,386.86,-188.18,-58.96,-0.0153,-0.2337,0.9722,17.17
|
||||||
|
97,A0,3,317.16,-361.37,-54.79,-0.242,-0.4685,0.8497,12.92
|
||||||
|
98,A0,2,648.49,382.72,-96.14,-0.001,0.016,0.9999,99.69
|
||||||
|
99,A0,1,1032.86,-294.32,-67.94,-0.7854,-0.2944,-0.5445,78.57
|
||||||
|
100,A0,2,848.99,192.39,-61.29,-0.6582,-0.6214,0.4251,49.94
|
||||||
|
101,A0,1,131.96,300.1,-59.87,0.0067,0.0277,0.9996,14.34
|
||||||
|
102,A0,3,683.89,-213.5,-68.38,-0.2212,-0.1903,0.9565,35.49
|
||||||
|
103,A0,2,111.85,-193.49,-59.79,0.0184,0.0312,0.9993,8.43
|
||||||
|
105,A0,3,553.96,-263.47,-68.08,-0.4035,-0.285,0.8695,29.26
|
||||||
|
201,?,1,897.13,61.75,90.23,-0.9978,0.0489,0.0451,
|
||||||
|
208,?,3,683.3,-76.41,-55.32,-0.3861,-0.3324,0.8605,
|
||||||
|
210,?,2,153.21,-2.51,-63.41,-0.3954,0.267,0.8788,
|
||||||
|
211,?,3,359.71,3.01,-41.85,0.0415,0.0337,0.9986,
|
||||||
|
214,?,3,595.34,16.16,-69.24,-0.9274,-0.1985,0.3172,
|
||||||
|
215,?,3,353.19,-91.68,-33.15,-0.2708,-0.4026,0.8744,
|
||||||
|
217,?,1,764.54,-10.41,-25.65,0.106,0.004,0.9944,
|
||||||
|
218,?,1,1121.04,-225.1,28.11,-0.7647,-0.6357,0.1053,
|
||||||
|
219,?,1,1127.16,-337.07,20.54,-0.9004,-0.4335,0.038,
|
||||||
|
Reference in New Issue
Block a user