Committed and Pushed by ButtonClick
This commit is contained in:
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@@ -1,10 +0,0 @@
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{ "coordinateSystem":{
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||||||
"MarkersUsed":"DICT_4X4_250",
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||||||
"KnownMarkers":
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||||||
{
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|
||||||
"50": [0.0, 0.0, 0.0],
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"101": [0.0, -0.080, 0.0]
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|
||||||
}
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|
||||||
}
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|
||||||
}
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|
||||||
@@ -1,10 +0,0 @@
|
|||||||
{ "coordinateSystem":{
|
|
||||||
"MarkersUsed":"DICT_4X4_250",
|
|
||||||
"KnownMarkers":
|
|
||||||
{
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|
||||||
"50": [0.0, 0.0, 0.0],
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|
||||||
"71": [0.140, 0.0, 0.0],
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||||||
"101": [0.0, -0.080, 0.0]
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|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,10 +0,0 @@
|
|||||||
{ "coordinateSystem":{
|
|
||||||
"MarkersUsed":"DICT_4X4_250",
|
|
||||||
"KnownMarkers":
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|
||||||
{
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|
||||||
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||||||
}
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|
||||||
}
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|
||||||
}
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|
||||||
@@ -1,29 +0,0 @@
|
|||||||
-----BEGIN CERTIFICATE-----
|
|
||||||
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|
||||||
-----END CERTIFICATE-----
|
|
||||||
@@ -1,52 +0,0 @@
|
|||||||
-----BEGIN PRIVATE KEY-----
|
|
||||||
MIIJQQIBADANBgkqhkiG9w0BAQEFAASCCSswggknAgEAAoICAQCsrU2pARkGlcOB
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
|
||||||
-----END PRIVATE KEY-----
|
|
||||||
1192
appVideoServer/package-lock.json
generated
1192
appVideoServer/package-lock.json
generated
File diff suppressed because it is too large
Load Diff
@@ -1,20 +0,0 @@
|
|||||||
{
|
|
||||||
"name": "video-streamer",
|
|
||||||
"version": "1.1.0",
|
|
||||||
"description": "HTTPS + WSS dual-camera MJPEG streamer (modular)",
|
|
||||||
"main": "server.js",
|
|
||||||
"type": "commonjs",
|
|
||||||
"scripts": {
|
|
||||||
"start": "node server.js",
|
|
||||||
"dev": "PORT=8443 nodemon server.js"
|
|
||||||
},
|
|
||||||
"dependencies": {
|
|
||||||
"compression": "^1.7.4",
|
|
||||||
"express": "^4.21.1",
|
|
||||||
"helmet": "^7.1.0",
|
|
||||||
"ws": "^8.18.0"
|
|
||||||
},
|
|
||||||
"devDependencies": {
|
|
||||||
"nodemon": "^3.1.7"
|
|
||||||
}
|
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||||||
}
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||||||
@@ -1,71 +0,0 @@
|
|||||||
const WebSocket = require("ws");
|
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||||||
|
|
||||||
/**
|
|
||||||
* Forwards WebSocket messages between browser clients (/robot)
|
|
||||||
* and a target WebSocket server (behind a firewall).
|
|
||||||
*
|
|
||||||
* @param {WebSocket.Server} wssInput - Local WebSocket server for browser clients
|
|
||||||
* @param {string} targetUrl - URL of target WebSocket server, e.g. "wss://internal.local:8080"
|
|
||||||
*/
|
|
||||||
function setupCommandForwarding(wssInput, targetUrl) {
|
|
||||||
let targetSocket;
|
|
||||||
const clients = new Set();
|
|
||||||
|
|
||||||
function connectTarget() {
|
|
||||||
console.log(`🔌 Connecting to target server: ${targetUrl}`);
|
|
||||||
targetSocket = new WebSocket(targetUrl);
|
|
||||||
|
|
||||||
targetSocket.on("open", () => {
|
|
||||||
console.log("✅ Connected to target server");
|
|
||||||
});
|
|
||||||
|
|
||||||
targetSocket.on("message", (msg) => {
|
|
||||||
const data = msg.toString();
|
|
||||||
console.log("⬅️ Message from target:", data);
|
|
||||||
// Broadcast to all connected browsers
|
|
||||||
for (const client of clients) {
|
|
||||||
if (client.readyState === WebSocket.OPEN) {
|
|
||||||
client.send(data);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
targetSocket.on("close", () => {
|
|
||||||
console.warn("⚠️ Target connection closed. Reconnecting in 5s...");
|
|
||||||
setTimeout(connectTarget, 5000);
|
|
||||||
});
|
|
||||||
|
|
||||||
targetSocket.on("error", (err) => {
|
|
||||||
console.error("❌ Target connection error:", err.message);
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
connectTarget();
|
|
||||||
|
|
||||||
// When a browser connects to /robot
|
|
||||||
wssInput.on("connection", (ws, req) => {
|
|
||||||
console.log("🤖 Browser connected:", req.socket.remoteAddress);
|
|
||||||
clients.add(ws);
|
|
||||||
|
|
||||||
ws.on("message", (msg) => {
|
|
||||||
const data = msg.toString();
|
|
||||||
console.log("➡️ From browser → target:", data);
|
|
||||||
if (targetSocket?.readyState === WebSocket.OPEN) {
|
|
||||||
targetSocket.send(data);
|
|
||||||
} else {
|
|
||||||
console.warn("⚠️ Target not connected. Message dropped.");
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
ws.on("close", () => {
|
|
||||||
clients.delete(ws);
|
|
||||||
console.log("🔌 Browser disconnected");
|
|
||||||
});
|
|
||||||
|
|
||||||
ws.on("error", (err) => {
|
|
||||||
console.error("❌ Browser socket error:", err.message);
|
|
||||||
});
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
module.exports = { setupCommandForwarding };
|
|
||||||
@@ -1,49 +0,0 @@
|
|||||||
// programs/input.js
|
|
||||||
'use strict';
|
|
||||||
|
|
||||||
const fs = require('fs');
|
|
||||||
const path = require('path');
|
|
||||||
|
|
||||||
function byIdCaptureCandidates() {
|
|
||||||
const dir = '/dev/v4l/by-id';
|
|
||||||
try {
|
|
||||||
if (!fs.existsSync(dir)) return [];
|
|
||||||
return fs.readdirSync(dir)
|
|
||||||
.filter(n => n.endsWith('-index0'))
|
|
||||||
.map(n => fs.realpathSync(path.join(dir, n)));
|
|
||||||
} catch {
|
|
||||||
return [];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
function naiveVideoNodes() {
|
|
||||||
try {
|
|
||||||
return fs.readdirSync('/dev')
|
|
||||||
.filter(n => /^video\d+$/.test(n))
|
|
||||||
.map(n => path.join('/dev', n))
|
|
||||||
.sort((a, b) => Number(a.replace(/\D/g, '')) - Number(b.replace(/\D/g, '')));
|
|
||||||
} catch {
|
|
||||||
return ['/dev/video0', '/dev/video2'];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
function pickDevices(env = process.env) {
|
|
||||||
const DEV0 = env.DEV0 || null;
|
|
||||||
const DEV1 = env.DEV1 || null;
|
|
||||||
|
|
||||||
if (DEV0 && DEV1) return [DEV0, DEV1];
|
|
||||||
|
|
||||||
const byId = byIdCaptureCandidates();
|
|
||||||
if (DEV0 || DEV1) {
|
|
||||||
const pool = byId.length ? byId : naiveVideoNodes();
|
|
||||||
const d0 = DEV0 || pool[0];
|
|
||||||
const d1 = DEV1 || pool.find(d => d !== d0) || pool[1];
|
|
||||||
return [d0, d1];
|
|
||||||
}
|
|
||||||
|
|
||||||
if (byId.length >= 2) return [byId[0], byId[1]];
|
|
||||||
const naive = naiveVideoNodes();
|
|
||||||
return [naive[0], naive[1]];
|
|
||||||
}
|
|
||||||
|
|
||||||
module.exports = { pickDevices };
|
|
||||||
@@ -1,165 +0,0 @@
|
|||||||
// programs/log.js
|
|
||||||
'use strict';
|
|
||||||
|
|
||||||
const fs = require('fs');
|
|
||||||
const path = require('path');
|
|
||||||
|
|
||||||
// --- configuration ---
|
|
||||||
const LOG_DIR = path.join(__dirname, '..', 'logs');
|
|
||||||
fs.mkdirSync(LOG_DIR, { recursive: true });
|
|
||||||
|
|
||||||
function getLogFilePath(d = new Date()) {
|
|
||||||
const yyyy = d.getFullYear();
|
|
||||||
const mm = String(d.getMonth() + 1).padStart(2, '0');
|
|
||||||
const dd = String(d.getDate()).padStart(2, '0');
|
|
||||||
return path.join(LOG_DIR, `${yyyy}_${mm}_${dd}.txt`);
|
|
||||||
}
|
|
||||||
|
|
||||||
function write(obj) {
|
|
||||||
const line = JSON.stringify(obj) + '\n';
|
|
||||||
fs.appendFile(getLogFilePath(), line, (err) => {
|
|
||||||
if (err) console.error('[log] write error:', err);
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
// --- common extractors ---
|
|
||||||
function commonFromReq(req) {
|
|
||||||
try {
|
|
||||||
const xff = req?.headers?.['x-forwarded-for'];
|
|
||||||
const xRealIp = req?.headers?.['x-real-ip'];
|
|
||||||
const ipFromXff = xff ? xff.split(',')[0].trim() : null;
|
|
||||||
const ip =
|
|
||||||
ipFromXff ||
|
|
||||||
xRealIp ||
|
|
||||||
req?.ip ||
|
|
||||||
req?.socket?.remoteAddress ||
|
|
||||||
null;
|
|
||||||
|
|
||||||
const tls =
|
|
||||||
req?.socket?.encrypted
|
|
||||||
? {
|
|
||||||
protocol:
|
|
||||||
typeof req.socket.getProtocol === 'function'
|
|
||||||
? req.socket.getProtocol()
|
|
||||||
: null,
|
|
||||||
cipher:
|
|
||||||
typeof req.socket.getCipher === 'function'
|
|
||||||
? (req.socket.getCipher() || {}).name
|
|
||||||
: null,
|
|
||||||
}
|
|
||||||
: null;
|
|
||||||
|
|
||||||
// MAC is not available across routed networks
|
|
||||||
const mac = null;
|
|
||||||
|
|
||||||
return {
|
|
||||||
ip,
|
|
||||||
ips: Array.isArray(req?.ips) ? req.ips : [],
|
|
||||||
xff: xff || null,
|
|
||||||
remoteAddress: req?.socket?.remoteAddress || null,
|
|
||||||
remoteFamily: req?.socket?.remoteFamily || null,
|
|
||||||
userAgent: req?.headers?.['user-agent'] || null,
|
|
||||||
acceptLanguage: req?.headers?.['accept-language'] || null,
|
|
||||||
secChUa: req?.headers?.['sec-ch-ua'] || null,
|
|
||||||
secChUaPlatform: req?.headers?.['sec-ch-ua-platform'] || null,
|
|
||||||
secChUaMobile: req?.headers?.['sec-ch-ua-mobile'] || null,
|
|
||||||
referer: req?.headers?.['referer'] || null,
|
|
||||||
tls,
|
|
||||||
mac,
|
|
||||||
};
|
|
||||||
} catch {
|
|
||||||
return {};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
function commonFromSocket(socket) {
|
|
||||||
return {
|
|
||||||
remoteAddress: socket?.remoteAddress || null,
|
|
||||||
remoteFamily: socket?.remoteFamily || null,
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
// --- specific log functions ---
|
|
||||||
function logHttpRequest(req) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'http',
|
|
||||||
method: req?.method || null,
|
|
||||||
url: (req?.originalUrl ?? req?.url) || null,
|
|
||||||
...commonFromReq(req),
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function logTcpConnection(socket) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'tcp',
|
|
||||||
...commonFromSocket(socket),
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function logHttpUpgrade(req) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'http-upgrade',
|
|
||||||
url: req?.url || null,
|
|
||||||
...commonFromReq(req),
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function logWssConnected(req) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'wss',
|
|
||||||
url: req?.url || null,
|
|
||||||
...commonFromReq(req),
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function logWssClosed(req, code, reason) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'wss-close',
|
|
||||||
url: req?.url || null,
|
|
||||||
code: typeof code === 'number' ? code : null,
|
|
||||||
reason: reason ? reason.toString() : null,
|
|
||||||
...commonFromReq(req),
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function logSnapshot(python, response){
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'snapshot',
|
|
||||||
command: python.toString(),
|
|
||||||
wsResponse: response.toString()
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
// --- generic hooks you requested ---
|
|
||||||
function connected(context = {}) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'connected',
|
|
||||||
...context,
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
function connectionLost(context = {}) {
|
|
||||||
write({
|
|
||||||
ts: new Date().toISOString(),
|
|
||||||
type: 'connection-lost',
|
|
||||||
...context,
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
module.exports = {
|
|
||||||
logHttpRequest,
|
|
||||||
logTcpConnection,
|
|
||||||
logHttpUpgrade,
|
|
||||||
logWssConnected,
|
|
||||||
logSnapshot,
|
|
||||||
logWssClosed,
|
|
||||||
connected,
|
|
||||||
connectionLost,
|
|
||||||
};
|
|
||||||
@@ -1,369 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
ArUco detection with multi-marker machine-frame fit + camera pose output (OpenCV >= 4.8).
|
|
||||||
|
|
||||||
- Reads: webCam_1.jpg
|
|
||||||
- Detects DICT_4X4_250 markers (ids expected: 0, 5, 10, 15)
|
|
||||||
- Uses multiple reference markers with known machine coordinates to fit camera->machine transform
|
|
||||||
- Reports positions/orientations of all markers **and the camera** in machine coordinates
|
|
||||||
- Draws detected markers, per-marker axes, and the machine axes
|
|
||||||
- Saves: webCam_1a.jpg (annotated) and marker_poses_machine.csv (poses incl. camera)
|
|
||||||
|
|
||||||
|
|
||||||
Usage:
|
|
||||||
python3 readCamPos.py -i snapshot_video1_1764493534200.jpg -npz camera_intrinsics_v0.npz -setting settings.json
|
|
||||||
|
|
||||||
|
|
||||||
"""
|
|
||||||
import faulthandler
|
|
||||||
faulthandler.enable()
|
|
||||||
|
|
||||||
import argparse
|
|
||||||
import os
|
|
||||||
import sys
|
|
||||||
import csv
|
|
||||||
import json
|
|
||||||
import time
|
|
||||||
from typing import Tuple, Dict, List
|
|
||||||
import numpy as np
|
|
||||||
import cv2
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
# ----------------------- Configuration Defaults -----------------------
|
|
||||||
IMAGE_PATH = "default.jpg"
|
|
||||||
OUTPUT_IMAGE_PATH = "default.jpg"
|
|
||||||
OUTPUT_CSV_PATH = "default.csv"
|
|
||||||
OUTPUT_JSON_PATH = "default.json"
|
|
||||||
|
|
||||||
# Marker side length in meters (25 mm)
|
|
||||||
MARKER_LENGTH_M = 0.025
|
|
||||||
|
|
||||||
# Axis lengths for visualization (in meters)
|
|
||||||
AXIS_LENGTH_M = 0.05 # per-marker axis
|
|
||||||
MACHINE_AXIS_X_M = 0.200 # 200 mm along +X
|
|
||||||
MACHINE_AXIS_Y_M = -0.100 # -100 mm along Y (towards camera per description)
|
|
||||||
MACHINE_AXIS_Z_M = 0.100 # +Z visualized as 100 mm
|
|
||||||
|
|
||||||
# Known machine coordinates for reference markers (meters)
|
|
||||||
cam_anchor_pts = {}
|
|
||||||
|
|
||||||
EXPECTED_IDS = {50, 71, 101}
|
|
||||||
|
|
||||||
# ----------------------- Utilities -----------------------
|
|
||||||
|
|
||||||
def load_intrinsics_npz(npz_path: str) -> Tuple[np.ndarray, np.ndarray]:
|
|
||||||
if os.path.exists(npz_path):
|
|
||||||
|
|
||||||
print("NPZ from File:", npz_path)
|
|
||||||
data = np.load(npz_path)
|
|
||||||
for k in ('camera_matrix', 'mtx', 'K'):
|
|
||||||
if k in data:
|
|
||||||
camera_matrix = data[k].astype(np.float32)
|
|
||||||
break
|
|
||||||
else:
|
|
||||||
raise KeyError("Camera matrix not found.")
|
|
||||||
for k in ('dist_coeffs', 'dist', 'D'):
|
|
||||||
if k in data:
|
|
||||||
dist = data[k].astype(np.float32).reshape(-1, 1)
|
|
||||||
break
|
|
||||||
else:
|
|
||||||
dist = np.zeros((5, 1), dtype=np.float32)
|
|
||||||
return camera_matrix, dist
|
|
||||||
|
|
||||||
camera_matrix = np.array([[1400, 0, 640],
|
|
||||||
[0, 1400, 360],
|
|
||||||
[0, 0, 1]], dtype=np.float32)
|
|
||||||
|
|
||||||
dist_coeffs = np.zeros((5, 1), dtype=np.float32)
|
|
||||||
|
|
||||||
print("[WARN] Using default approximate intrinsics.")
|
|
||||||
return camera_matrix, dist_coeffs
|
|
||||||
|
|
||||||
|
|
||||||
def rvec_to_R(rvec: np.ndarray) -> np.ndarray:
|
|
||||||
R, _ = cv2.Rodrigues(rvec)
|
|
||||||
return R
|
|
||||||
|
|
||||||
|
|
||||||
def R_to_euler_zyx(R: np.ndarray) -> Tuple[float, float, float]:
|
|
||||||
yaw = float(np.degrees(np.arctan2(R[1,0], R[0,0])))
|
|
||||||
sp = np.sqrt(R[2,1]**2 + R[2,2]**2)
|
|
||||||
pitch = float(np.degrees(np.arctan2(-R[2,0], sp)))
|
|
||||||
roll = float(np.degrees(np.arctan2(R[2,1], R[2,2])))
|
|
||||||
return roll, pitch, yaw
|
|
||||||
|
|
||||||
|
|
||||||
def corners_to_image_points(corners: np.ndarray) -> np.ndarray:
|
|
||||||
return corners.reshape(4, 2).astype(np.float32)
|
|
||||||
|
|
||||||
|
|
||||||
def get_detector():
|
|
||||||
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_250)
|
|
||||||
try:
|
|
||||||
params = cv2.aruco.DetectorParameters()
|
|
||||||
except Exception:
|
|
||||||
params = cv2.aruco.DetectorParameters_create()
|
|
||||||
try:
|
|
||||||
detector = cv2.aruco.ArucoDetector(dictionary, params)
|
|
||||||
return detector, None
|
|
||||||
except Exception:
|
|
||||||
return None, (dictionary, params)
|
|
||||||
|
|
||||||
|
|
||||||
def detect_markers(image: np.ndarray, detector_tuple):
|
|
||||||
detector, fallback = detector_tuple
|
|
||||||
print(detector)
|
|
||||||
if detector is not None:
|
|
||||||
corners, ids, rejected = detector.detectMarkers(image)
|
|
||||||
else:
|
|
||||||
dictionary, params = fallback
|
|
||||||
corners, ids, rejected = cv2.aruco.detectMarkers(image, dictionary, parameters=params)
|
|
||||||
return corners, ids, rejected
|
|
||||||
|
|
||||||
|
|
||||||
def rigid_transform_no_scale(A: np.ndarray, B: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
|
|
||||||
assert A.shape == B.shape and A.shape[1] == 3, "A and B must be Nx3"
|
|
||||||
N = A.shape[0]
|
|
||||||
if N < 2:
|
|
||||||
raise ValueError("Need at least 2 points; 3+ recommended.")
|
|
||||||
centroid_A = A.mean(axis=0)
|
|
||||||
centroid_B = B.mean(axis=0)
|
|
||||||
AA = A - centroid_A
|
|
||||||
BB = B - centroid_B
|
|
||||||
H = AA.T @ BB
|
|
||||||
U, S, Vt = np.linalg.svd(H)
|
|
||||||
R = Vt.T @ U.T
|
|
||||||
if np.linalg.det(R) < 0:
|
|
||||||
Vt[-1, :] *= -1
|
|
||||||
R = Vt.T @ U.T
|
|
||||||
t = centroid_B - R @ centroid_A
|
|
||||||
return R.astype(np.float32), t.astype(np.float32)
|
|
||||||
|
|
||||||
def readSettings(fileSetting):
|
|
||||||
global cam_anchor_pts
|
|
||||||
print("Read Settings")
|
|
||||||
|
|
||||||
if(fileSetting == None):
|
|
||||||
cam_anchor_pts = {
|
|
||||||
50: np.array([0.0, 0.0, 0.0], dtype=np.float32),
|
|
||||||
71: np.array([0.140, 0.0, 0.0], dtype=np.float32),
|
|
||||||
101: np.array([-0.0, -0.080, 0.0], dtype=np.float32),
|
|
||||||
#15: np.array([20,20,20]) # add if known
|
|
||||||
}
|
|
||||||
return
|
|
||||||
|
|
||||||
|
|
||||||
with open(fileSetting, 'r') as f:
|
|
||||||
settings = json.load(f)
|
|
||||||
for marker_id, coords in settings['coordinateSystem']['KnownMarkers'].items():
|
|
||||||
cam_anchor_pts[int(marker_id)] = np.array(coords, dtype=np.float32)
|
|
||||||
|
|
||||||
#KNOWN_MACHINE_POS = {int(k): np.array(v, dtype=np.float32) for k, v in settings.items()}
|
|
||||||
|
|
||||||
|
|
||||||
# ----------------------- Main -----------------------
|
|
||||||
|
|
||||||
def main():
|
|
||||||
|
|
||||||
parser = argparse.ArgumentParser(description="Detect ArUco markers in two images and compute camera poses in machine coordinates.")
|
|
||||||
parser.add_argument('-i', '--images', action='append', required=False,
|
|
||||||
help="Path to image. Provide this option twice: once per camera (e.g., -i2 cam1.jpg -i2 cam2.jpg)")
|
|
||||||
parser.add_argument('-npz', '--npz', action='append', required=False, default=['camera_intrinsics_v1.npz'])
|
|
||||||
parser.add_argument('--cam-calib', action='append', required=False,
|
|
||||||
help="Paths to calibration YAMLs for camera 1 and camera 2 (e.g., cam1.npz cam2.npz)")
|
|
||||||
parser.add_argument('--marker-size-mm', type=float, default=25,
|
|
||||||
help="Marker side length in millimeters (e.g., 50)")
|
|
||||||
parser.add_argument('--dict', default='DICT_4X4_250',
|
|
||||||
help="ArUco dictionary name (default: DICT_4X4_250)")
|
|
||||||
parser.add_argument('-settings', type=str, default=None,
|
|
||||||
help="Json File with Machine Settings")
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
print("ABC 0")
|
|
||||||
|
|
||||||
readSettings(args.settings)
|
|
||||||
|
|
||||||
print("ABC 0")
|
|
||||||
|
|
||||||
if(args.images is None):
|
|
||||||
image = cv2.imread(IMAGE_PATH)
|
|
||||||
else:
|
|
||||||
image = cv2.imread(args.images[0])
|
|
||||||
OUTPUT_IMAGE_PATH = args.images[0].replace(".jpg","r.jpg").replace(".PNG","r.PNG")
|
|
||||||
OUTPUT_CSV_PATH = args.images[0].replace(".jpg",".csv").replace(".PNG",".csv")
|
|
||||||
OUTPUT_JSON_PATH = args.images[0].replace(".jpg",".json").replace(".PNG",".json")
|
|
||||||
|
|
||||||
|
|
||||||
if image is None:
|
|
||||||
print(f"[ERROR] Cannot read image '{IMAGE_PATH}'.")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
|
|
||||||
print("ABC 1")
|
|
||||||
|
|
||||||
camera_matrix, dist_coeffs = load_intrinsics_npz(args.npz[0])
|
|
||||||
print("ABC 1a")
|
|
||||||
detector_tuple = get_detector()
|
|
||||||
print("ABC 1b")
|
|
||||||
corners_list, ids, rejected = detect_markers(image, detector_tuple)
|
|
||||||
|
|
||||||
|
|
||||||
print("ABC 2")
|
|
||||||
|
|
||||||
if ids is None or len(ids) == 0:
|
|
||||||
print("[ERROR] No markers detected.")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
draw_img = image.copy()
|
|
||||||
cv2.aruco.drawDetectedMarkers(draw_img, corners_list, ids)
|
|
||||||
|
|
||||||
half = MARKER_LENGTH_M / 2.0
|
|
||||||
obj_points = np.array([
|
|
||||||
[-half, half, 0.0],
|
|
||||||
[ half, half, 0.0],
|
|
||||||
[ half, -half, 0.0],
|
|
||||||
[-half, -half, 0.0],
|
|
||||||
], dtype=np.float32)
|
|
||||||
|
|
||||||
poses_cam: Dict[int, Tuple[np.ndarray, np.ndarray]] = {}
|
|
||||||
centers_cam: Dict[int, np.ndarray] = {}
|
|
||||||
for i, marker_id in enumerate(ids.flatten()):
|
|
||||||
img_pts = corners_to_image_points(corners_list[i])
|
|
||||||
success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_IPPE_SQUARE)
|
|
||||||
if not success:
|
|
||||||
success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, camera_matrix, dist_coeffs)
|
|
||||||
if success:
|
|
||||||
rvec = rvec.reshape(3,1)
|
|
||||||
tvec = tvec.reshape(3,1)
|
|
||||||
poses_cam[int(marker_id)] = (rvec, tvec)
|
|
||||||
centers_cam[int(marker_id)] = tvec.flatten()
|
|
||||||
try:
|
|
||||||
cv2.drawFrameAxes(draw_img, camera_matrix, dist_coeffs, rvec, tvec, AXIS_LENGTH_M)
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
else:
|
|
||||||
print(f"[WARN] solvePnP failed for marker {marker_id}")
|
|
||||||
|
|
||||||
common_ids: List[int] = [mid for mid in cam_anchor_pts.keys() if mid in centers_cam]
|
|
||||||
if len(common_ids) < 2:
|
|
||||||
print(f"[ERROR] Need at least 2 reference markers; found {len(common_ids)}: {common_ids}")
|
|
||||||
sys.exit(1)
|
|
||||||
if len(common_ids) < 3:
|
|
||||||
print(f"[WARN] Only {len(common_ids)} references ({common_ids}). Fit may be less stable; 3+ recommended.")
|
|
||||||
|
|
||||||
A = np.stack([centers_cam[mid] for mid in common_ids], axis=0)
|
|
||||||
B = np.stack([cam_anchor_pts[mid] for mid in common_ids], axis=0)
|
|
||||||
|
|
||||||
R_cam_to_machine, t_cam_to_machine = rigid_transform_no_scale(A, B)
|
|
||||||
|
|
||||||
residuals_mm = []
|
|
||||||
for i, mid in enumerate(common_ids):
|
|
||||||
pred = R_cam_to_machine @ A[i] + t_cam_to_machine
|
|
||||||
err = np.linalg.norm(pred - B[i]) * 1000.0
|
|
||||||
residuals_mm.append(err)
|
|
||||||
rms = float(np.sqrt(np.mean(np.square(residuals_mm)))) if residuals_mm else 0.0
|
|
||||||
print("\nReference fit residuals (mm) per marker:")
|
|
||||||
for mid, e in zip(common_ids, residuals_mm):
|
|
||||||
print(f" ID {mid}: {e:.2f} mm")
|
|
||||||
print(f"RMS residual: {rms:.2f} mm")
|
|
||||||
|
|
||||||
# Camera pose in machine coordinates:
|
|
||||||
# Camera origin (0,0,0 in camera) maps to t_cam_to_machine
|
|
||||||
cam_pos_machine = t_cam_to_machine
|
|
||||||
cam_R_machine = R_cam_to_machine # camera basis expressed in machine frame
|
|
||||||
cam_roll, cam_pitch, cam_yaw = R_to_euler_zyx(cam_R_machine)
|
|
||||||
|
|
||||||
rows = [("id", "x_mm", "y_mm", "z_mm", "roll_deg", "pitch_deg", "yaw_deg")]
|
|
||||||
marker_list = []
|
|
||||||
|
|
||||||
print("\nMarker Positions and Orientations in Machine Coordinates:")
|
|
||||||
print(f"{'ID':>8} {'X(mm)':>10} {'Y(mm)':>10} {'Z(mm)':>10} {'Roll':>10} {'Pitch':>10} {'Yaw':>10}")
|
|
||||||
|
|
||||||
# Add camera first
|
|
||||||
cx, cy, cz = (cam_pos_machine * 1000.0).tolist()
|
|
||||||
print(f"{'camera':>8} {cx:10.2f} {cy:10.2f} {cz:10.2f} {cam_roll:10.2f} {cam_pitch:10.2f} {cam_yaw:10.2f}")
|
|
||||||
rows.append(("camera", f"{cx:.3f}", f"{cy:.3f}", f"{cz:.3f}", f"{cam_roll:.3f}", f"{cam_pitch:.3f}", f"{cam_yaw:.3f}"))
|
|
||||||
camera_pose = {
|
|
||||||
"id": "camera",
|
|
||||||
"position_mm": [float(x) for x in cam_pos_machine * 1000.0],
|
|
||||||
"orientation_deg": {"roll": cam_roll, "pitch": cam_pitch, "yaw": cam_yaw}
|
|
||||||
}
|
|
||||||
|
|
||||||
# Then markers
|
|
||||||
for marker_id in sorted(poses_cam.keys()):
|
|
||||||
rvec, tvec = poses_cam[marker_id]
|
|
||||||
R_marker_cam = rvec_to_R(rvec)
|
|
||||||
pos_machine = R_cam_to_machine @ tvec.flatten() + t_cam_to_machine
|
|
||||||
R_marker_machine = R_cam_to_machine @ R_marker_cam
|
|
||||||
roll_deg, pitch_deg, yaw_deg = R_to_euler_zyx(R_marker_machine)
|
|
||||||
x_mm, y_mm, z_mm = (pos_machine * 1000.0).tolist()
|
|
||||||
print(f"{marker_id:8d} {x_mm:10.2f} {y_mm:10.2f} {z_mm:10.2f} {roll_deg:10.2f} {pitch_deg:10.2f} {yaw_deg:10.2f}")
|
|
||||||
rows.append((marker_id, f"{x_mm:.3f}", f"{y_mm:.3f}", f"{z_mm:.3f}", f"{roll_deg:.3f}", f"{pitch_deg:.3f}", f"{yaw_deg:.3f}"))
|
|
||||||
marker_list.append({"id": marker_id, "position_mm": [x_mm, y_mm, z_mm], "orientation_deg": {"roll": roll_deg, "pitch": pitch_deg, "yaw": yaw_deg}})
|
|
||||||
|
|
||||||
# Save CSV
|
|
||||||
try:
|
|
||||||
with open(OUTPUT_CSV_PATH, 'w', newline='') as f:
|
|
||||||
writer = csv.writer(f)
|
|
||||||
writer.writerows(rows)
|
|
||||||
print(f"\n[INFO] Saved CSV poses to '{OUTPUT_CSV_PATH}'.")
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Could not save CSV: {e}")
|
|
||||||
|
|
||||||
|
|
||||||
# Save JSON
|
|
||||||
json_data = {
|
|
||||||
"metadata": {
|
|
||||||
"timestamp": time.strftime("%Y-%m-%d %H:%M:%S"),
|
|
||||||
"reference_markers": common_ids,
|
|
||||||
"rms_residual_mm": rms,
|
|
||||||
"description": "Multi-marker machine frame fit with camera pose"
|
|
||||||
},
|
|
||||||
"camera": camera_pose,
|
|
||||||
"markers": marker_list
|
|
||||||
}
|
|
||||||
with open(OUTPUT_JSON_PATH, 'w', encoding='utf-8') as f:
|
|
||||||
json.dump(json_data, f, indent=4)
|
|
||||||
|
|
||||||
# Warn about expected IDs
|
|
||||||
detected_ids = set(poses_cam.keys())
|
|
||||||
missing = EXPECTED_IDS - detected_ids
|
|
||||||
if missing:
|
|
||||||
print(f"[WARN] Expected markers not detected: {sorted(missing)}")
|
|
||||||
|
|
||||||
# Draw machine axes using global transform (machine->camera)
|
|
||||||
R_machine_to_cam = R_cam_to_machine.T
|
|
||||||
t_machine_to_cam = - R_machine_to_cam @ t_cam_to_machine
|
|
||||||
try:
|
|
||||||
machine_axes = np.float32([
|
|
||||||
[0.0, 0.0, 0.0],
|
|
||||||
[MACHINE_AXIS_X_M, 0.0, 0.0],
|
|
||||||
[0.0, MACHINE_AXIS_Y_M, 0.0],
|
|
||||||
[0.0, 0.0, MACHINE_AXIS_Z_M],
|
|
||||||
])
|
|
||||||
rvec_global, _ = cv2.Rodrigues(R_machine_to_cam)
|
|
||||||
imgpts, _ = cv2.projectPoints(machine_axes, rvec_global, t_machine_to_cam, camera_matrix, dist_coeffs)
|
|
||||||
origin = tuple(np.round(imgpts[0].ravel()).astype(int))
|
|
||||||
x_end = tuple(np.round(imgpts[1].ravel()).astype(int))
|
|
||||||
y_end = tuple(np.round(imgpts[2].ravel()).astype(int))
|
|
||||||
z_end = tuple(np.round(imgpts[3].ravel()).astype(int))
|
|
||||||
cv2.line(draw_img, origin, x_end, (0, 0, 255), 3)
|
|
||||||
cv2.line(draw_img, origin, y_end, (0, 255, 0), 3)
|
|
||||||
cv2.line(draw_img, origin, z_end, (255, 0, 0), 3)
|
|
||||||
cv2.putText(draw_img, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2)
|
|
||||||
cv2.putText(draw_img, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2)
|
|
||||||
cv2.putText(draw_img, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2)
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Failed to draw machine axes: {e}")
|
|
||||||
|
|
||||||
ok = cv2.imwrite(OUTPUT_IMAGE_PATH, draw_img)
|
|
||||||
if ok:
|
|
||||||
print(f"[INFO] Annotated image saved as '{OUTPUT_IMAGE_PATH}'.")
|
|
||||||
else:
|
|
||||||
print(f"[ERROR] Failed to save annotated image '{OUTPUT_IMAGE_PATH}'.")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
@@ -1,668 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
readCamPositionTwo.py
|
|
||||||
|
|
||||||
Two-camera ArUco detection with joint optimization of both camera extrinsics
|
|
||||||
against known machine-frame reference markers, plus triangulation of unknown
|
|
||||||
marker positions. Outputs camera pose and marker poses in machine coordinates,
|
|
||||||
with CSV and JSON similar to the single-camera script.
|
|
||||||
|
|
||||||
Dependencies: numpy, opencv-python (cv2)
|
|
||||||
Optional but NOT required: SciPy (we implement a simple Levenberg–Marquardt).
|
|
||||||
|
|
||||||
Usage example:
|
|
||||||
python3 readTwoImages.py -i snapshot_video0_1764531874081.jpg -i snapshot_video1_1764531874081.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
|
|
||||||
python3 readTwoImages.py -i snapshot_video0_1764524369655.jpg -i snapshot_video1_1764524369655.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
|
|
||||||
|
|
||||||
python3 readTwoImages.py -i snapshot_video0_1765009029764.jpg -i snapshot_video1_1765009029764.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
|
|
||||||
|
|
||||||
Settings JSON is expected to contain:
|
|
||||||
{
|
|
||||||
"coordinateSystem": {
|
|
||||||
"KnownMarkers": {
|
|
||||||
"50": [0.0, 0.0, 0.0],
|
|
||||||
"71": [0.140, 0.0, 0.0],
|
|
||||||
"101": [0.0, -0.080, 0.0]
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
Author: M365 Copilot (generated)
|
|
||||||
"""
|
|
||||||
import argparse
|
|
||||||
import os
|
|
||||||
import sys
|
|
||||||
import json
|
|
||||||
import time
|
|
||||||
from typing import Dict, Tuple, List
|
|
||||||
import numpy as np
|
|
||||||
import cv2
|
|
||||||
|
|
||||||
# ---------------- Configuration defaults ----------------
|
|
||||||
AXIS_LENGTH_M = 0.05
|
|
||||||
|
|
||||||
# ---------------- Utilities ----------------
|
|
||||||
def load_intrinsics_npz(npz_path: str) -> Tuple[np.ndarray, np.ndarray]:
|
|
||||||
print("NPZ reading of file:", npz_path)
|
|
||||||
if os.path.exists(npz_path):
|
|
||||||
data = np.load(npz_path)
|
|
||||||
for k in ('camera_matrix', 'mtx', 'K'):
|
|
||||||
if k in data:
|
|
||||||
camera_matrix = data[k].astype(np.float32)
|
|
||||||
break
|
|
||||||
else:
|
|
||||||
raise KeyError("Camera matrix not found in NPZ.")
|
|
||||||
for k in ('dist_coeffs', 'dist', 'D'):
|
|
||||||
if k in data:
|
|
||||||
dist = data[k].astype(np.float32).reshape(-1,1)
|
|
||||||
break
|
|
||||||
else:
|
|
||||||
dist = np.zeros((5,1), dtype=np.float32)
|
|
||||||
print("NPZ loaded:", npz_path)
|
|
||||||
return camera_matrix, dist
|
|
||||||
# Fallback default intrinsics
|
|
||||||
camera_matrix = np.array([[1400, 0, 640],
|
|
||||||
[0, 1400, 360],
|
|
||||||
[0, 0, 1]], dtype=np.float32)
|
|
||||||
dist_coeffs = np.zeros((5,1), dtype=np.float32)
|
|
||||||
print("[WARN] Using default approximate intrinsics.")
|
|
||||||
return camera_matrix, dist_coeffs
|
|
||||||
|
|
||||||
|
|
||||||
def get_aruco_detector(dict_name: str):
|
|
||||||
mapping = {
|
|
||||||
'DICT_4X4_250': cv2.aruco.DICT_4X4_250,
|
|
||||||
'DICT_5X5_100': cv2.aruco.DICT_5X5_100,
|
|
||||||
'DICT_6X6_250': cv2.aruco.DICT_6X6_250,
|
|
||||||
'DICT_ARUCO_ORIGINAL': cv2.aruco.DICT_ARUCO_ORIGINAL,
|
|
||||||
}
|
|
||||||
if dict_name not in mapping:
|
|
||||||
dict_id = cv2.aruco.DICT_4X4_250
|
|
||||||
else:
|
|
||||||
dict_id = mapping[dict_name]
|
|
||||||
dictionary = cv2.aruco.getPredefinedDictionary(dict_id)
|
|
||||||
try:
|
|
||||||
params = cv2.aruco.DetectorParameters()
|
|
||||||
except Exception:
|
|
||||||
params = cv2.aruco.DetectorParameters_create()
|
|
||||||
try:
|
|
||||||
detector = cv2.aruco.ArucoDetector(dictionary, params)
|
|
||||||
return detector, None
|
|
||||||
except Exception:
|
|
||||||
return None, (dictionary, params)
|
|
||||||
|
|
||||||
|
|
||||||
def detect_markers(image: np.ndarray, detector_tuple):
|
|
||||||
detector, fallback = detector_tuple
|
|
||||||
if detector is not None:
|
|
||||||
corners, ids, rejected = detector.detectMarkers(image)
|
|
||||||
else:
|
|
||||||
dictionary, params = fallback
|
|
||||||
corners, ids, rejected = cv2.aruco.detectMarkers(image, dictionary, parameters=params)
|
|
||||||
return corners, ids, rejected
|
|
||||||
|
|
||||||
|
|
||||||
def corners_to_image_points(corners: np.ndarray) -> np.ndarray:
|
|
||||||
return corners.reshape(4,2).astype(np.float32)
|
|
||||||
|
|
||||||
|
|
||||||
def marker_center_from_corners(corners: np.ndarray) -> np.ndarray:
|
|
||||||
pts = corners.reshape(4,2)
|
|
||||||
return pts.mean(axis=0).astype(np.float32)
|
|
||||||
|
|
||||||
|
|
||||||
def rvec_to_R(rvec: np.ndarray) -> np.ndarray:
|
|
||||||
R, _ = cv2.Rodrigues(rvec)
|
|
||||||
return R
|
|
||||||
|
|
||||||
|
|
||||||
def rigid_transform_no_scale(A: np.ndarray, B: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
|
|
||||||
"""Find R,t s.t. B ≈ R A + t. A,B: Nx3."""
|
|
||||||
assert A.shape == B.shape and A.shape[1] == 3, "A and B must be Nx3"
|
|
||||||
N = A.shape[0]
|
|
||||||
if N < 2:
|
|
||||||
raise ValueError("Need at least 2 points; 3+ recommended.")
|
|
||||||
centroid_A = A.mean(axis=0)
|
|
||||||
centroid_B = B.mean(axis=0)
|
|
||||||
AA = A - centroid_A
|
|
||||||
BB = B - centroid_B
|
|
||||||
H = AA.T @ BB
|
|
||||||
U, S, Vt = np.linalg.svd(H)
|
|
||||||
R = Vt.T @ U.T
|
|
||||||
if np.linalg.det(R) < 0:
|
|
||||||
Vt[-1, :] *= -1
|
|
||||||
R = Vt.T @ U.T
|
|
||||||
t = centroid_B - R @ centroid_A
|
|
||||||
return R.astype(np.float32), t.astype(np.float32)
|
|
||||||
|
|
||||||
|
|
||||||
def undistort_to_normalized(points_px: np.ndarray, K: np.ndarray, D: np.ndarray) -> np.ndarray:
|
|
||||||
"""points_px: Nx2 pixel. Returns Nx2 normalized coords (x,y) where projection is x=Xp/Z, y=Yp/Z.
|
|
||||||
cv2.undistortPoints with P=None yields normalized coordinates.
|
|
||||||
"""
|
|
||||||
pts = points_px.reshape(-1,1,2).astype(np.float32)
|
|
||||||
und = cv2.undistortPoints(pts, K, D, P=None) # returns Nx1x2
|
|
||||||
return und.reshape(-1,2)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------- Joint optimization (LM, numerical Jacobian) ----------------
|
|
||||||
|
|
||||||
def pack_params(omega1, t1, omega2, t2) -> np.ndarray:
|
|
||||||
return np.hstack([omega1, t1, omega2, t2]).astype(np.float64)
|
|
||||||
|
|
||||||
|
|
||||||
def unpack_params(theta: np.ndarray):
|
|
||||||
omega1 = theta[0:3]
|
|
||||||
t1 = theta[3:6]
|
|
||||||
omega2 = theta[6:9]
|
|
||||||
t2 = theta[9:12]
|
|
||||||
return omega1, t1, omega2, t2
|
|
||||||
|
|
||||||
|
|
||||||
def residuals_centers_normalized(theta: np.ndarray,
|
|
||||||
X_mach: np.ndarray,
|
|
||||||
obs1_norm: np.ndarray,
|
|
||||||
obs2_norm: np.ndarray) -> np.ndarray:
|
|
||||||
"""
|
|
||||||
Compute residuals in normalized coordinates (no intrinsics, no distortion).
|
|
||||||
For camera j: X_cam = R_j X_mach + t_j; proj: (x/z, y/z).
|
|
||||||
Returns stacked residuals [r1; r2] shape (4N,), where N = number of references.
|
|
||||||
"""
|
|
||||||
omega1, t1, omega2, t2 = unpack_params(theta)
|
|
||||||
R1 = cv2.Rodrigues(omega1)[0]
|
|
||||||
R2 = cv2.Rodrigues(omega2)[0]
|
|
||||||
# Camera 1 projections
|
|
||||||
X_cam1 = (R1 @ X_mach.T + t1.reshape(3,1)).T # Nx3
|
|
||||||
uv1 = X_cam1[:, :2] / X_cam1[:, 2:3]
|
|
||||||
r1 = (obs1_norm - uv1).reshape(-1)
|
|
||||||
# Camera 2 projections
|
|
||||||
X_cam2 = (R2 @ X_mach.T + t2.reshape(3,1)).T
|
|
||||||
uv2 = X_cam2[:, :2] / X_cam2[:, 2:3]
|
|
||||||
r2 = (obs2_norm - uv2).reshape(-1)
|
|
||||||
return np.hstack([r1, r2])
|
|
||||||
|
|
||||||
|
|
||||||
def numerical_jacobian(f, theta: np.ndarray, eps: float, *args) -> np.ndarray:
|
|
||||||
"""Finite-difference Jacobian: forward differences."""
|
|
||||||
r0 = f(theta, *args)
|
|
||||||
m = r0.size
|
|
||||||
n = theta.size
|
|
||||||
J = np.zeros((m, n), dtype=np.float64)
|
|
||||||
for k in range(n):
|
|
||||||
th = theta.copy()
|
|
||||||
th[k] += eps
|
|
||||||
rk = f(th, *args)
|
|
||||||
J[:, k] = (rk - r0) / eps
|
|
||||||
return J, r0
|
|
||||||
|
|
||||||
|
|
||||||
def lm_solve(theta0: np.ndarray,
|
|
||||||
X_mach: np.ndarray,
|
|
||||||
obs1_norm: np.ndarray,
|
|
||||||
obs2_norm: np.ndarray,
|
|
||||||
max_iter: int = 50,
|
|
||||||
eps_jac: float = 1e-6,
|
|
||||||
lambda_init: float = 1e-3) -> Tuple[np.ndarray, Dict]:
|
|
||||||
"""Simple Levenberg–Marquardt on center normalized residuals."""
|
|
||||||
lam = lambda_init
|
|
||||||
theta = theta0.copy()
|
|
||||||
history = {"iters": [], "rms": []}
|
|
||||||
for it in range(max_iter):
|
|
||||||
J, r = numerical_jacobian(residuals_centers_normalized, theta, eps_jac,
|
|
||||||
X_mach, obs1_norm, obs2_norm)
|
|
||||||
rms = float(np.sqrt(np.mean(r*r))) if r.size else 0.0
|
|
||||||
history["iters"].append(it)
|
|
||||||
history["rms"].append(rms)
|
|
||||||
# Normal equations with damping
|
|
||||||
JTJ = J.T @ J
|
|
||||||
g = J.T @ r
|
|
||||||
H = JTJ + lam * np.eye(JTJ.shape[0])
|
|
||||||
try:
|
|
||||||
delta = -np.linalg.solve(H, g)
|
|
||||||
except np.linalg.LinAlgError:
|
|
||||||
# Fallback to least squares
|
|
||||||
delta, *_ = np.linalg.lstsq(H, -g, rcond=None)
|
|
||||||
theta_trial = theta + delta
|
|
||||||
r_trial = residuals_centers_normalized(theta_trial, X_mach, obs1_norm, obs2_norm)
|
|
||||||
rms_trial = float(np.sqrt(np.mean(r_trial*r_trial)))
|
|
||||||
if rms_trial < rms: # improve
|
|
||||||
theta = theta_trial
|
|
||||||
lam *= 0.5
|
|
||||||
else:
|
|
||||||
lam *= 2.0
|
|
||||||
# Convergence criteria
|
|
||||||
if np.linalg.norm(delta) < 1e-9 or abs(rms - rms_trial) < 1e-9:
|
|
||||||
break
|
|
||||||
return theta, history
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------- Triangulation ----------------
|
|
||||||
|
|
||||||
def build_projection_matrix(K: np.ndarray, R: np.ndarray, t: np.ndarray) -> np.ndarray:
|
|
||||||
return K @ np.hstack([R, t.reshape(3,1)])
|
|
||||||
|
|
||||||
|
|
||||||
def triangulate_center(P1: np.ndarray, P2: np.ndarray, u1: np.ndarray, u2: np.ndarray) -> np.ndarray:
|
|
||||||
# u1,u2: (2,) pixel coordinates
|
|
||||||
x1 = u1.reshape(2,1)
|
|
||||||
x2 = u2.reshape(2,1)
|
|
||||||
X_h = cv2.triangulatePoints(P1, P2, x1, x2) # 4x1 homogeneous in machine frame if P maps machine->pixels
|
|
||||||
X = (X_h[:3] / X_h[3]).reshape(3)
|
|
||||||
return X.astype(np.float32)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------- Main ----------------
|
|
||||||
def main():
|
|
||||||
print("Started")
|
|
||||||
parser = argparse.ArgumentParser(description="Two-camera ArUco joint optimization and triangulation")
|
|
||||||
parser.add_argument('-i', '--images', action='append', required=True,
|
|
||||||
help="Two image paths: first camera then second camera")
|
|
||||||
parser.add_argument('-npz', '--npz', action='append', required=True,
|
|
||||||
help="Two NPZ intrinsics paths: cam1 then cam2")
|
|
||||||
parser.add_argument('-markerSizeMM', '--markerSizeMM', type=float, default=25.0,
|
|
||||||
help="Marker side length in millimeters")
|
|
||||||
parser.add_argument('--dict', default='DICT_4X4_250', help="ArUco dictionary name")
|
|
||||||
parser.add_argument('-settings', type=str, default=None,
|
|
||||||
help="Json settings file containing machine KnownMarkers")
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
if len(args.images) != 2 or len(args.npz) != 2:
|
|
||||||
print("[ERROR] Provide exactly two images and two intrinsics NPZ files.")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
img1 = cv2.imread(args.images[0])
|
|
||||||
img2 = cv2.imread(args.images[1])
|
|
||||||
draw1 = img1.copy()
|
|
||||||
draw2 = img2.copy()
|
|
||||||
h, w = draw1.shape[:2]
|
|
||||||
#drawPNG1 = np.zeros((h, w, 4), dtype=np.uint8) # fully transparent
|
|
||||||
drawPNG1 = np.zeros((h, w, 3), dtype=np.uint8)
|
|
||||||
# Also prepare a matching canvas for camera2 to keep the layout tidy
|
|
||||||
drawPNG2 = np.zeros((h, w, 3), dtype=np.uint8)
|
|
||||||
|
|
||||||
if img1 is None or img2 is None:
|
|
||||||
print("[ERROR] Cannot read one of the images.")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
K1, D1 = load_intrinsics_npz(args.npz[0])
|
|
||||||
K2, D2 = load_intrinsics_npz(args.npz[1])
|
|
||||||
|
|
||||||
# Marker 3D local geometry (square corners)
|
|
||||||
half = (args.markerSizeMM / 1000.0) / 2.0
|
|
||||||
obj_points = np.array([
|
|
||||||
[-half, half, 0.0],
|
|
||||||
[ half, half, 0.0],
|
|
||||||
[ half, -half, 0.0],
|
|
||||||
[-half, -half, 0.0],
|
|
||||||
], dtype=np.float32)
|
|
||||||
|
|
||||||
# Read settings for machine known markers
|
|
||||||
known_markers: Dict[int, np.ndarray] = {}
|
|
||||||
if args.settings is not None and os.path.exists(args.settings):
|
|
||||||
with open(args.settings, 'r') as f:
|
|
||||||
settings = json.load(f)
|
|
||||||
for marker_id, coords in settings['coordinateSystem']['KnownMarkers'].items():
|
|
||||||
known_markers[int(marker_id)] = np.array(coords, dtype=np.float32)
|
|
||||||
print("[INFO] Loaded KnownMarkers from settings.")
|
|
||||||
else:
|
|
||||||
# Fallback defaults
|
|
||||||
known_markers = {
|
|
||||||
50: np.array([0.0, 0.0, 0.0], dtype=np.float32),
|
|
||||||
71: np.array([0.140, 0.0, 0.0], dtype=np.float32),
|
|
||||||
101: np.array([0.0, -0.080, 0.0], dtype=np.float32),
|
|
||||||
}
|
|
||||||
print("[WARN] Using default KnownMarkers; provide -settings for your machine.")
|
|
||||||
|
|
||||||
# Detect markers in both images
|
|
||||||
detector_tuple = get_aruco_detector(args.dict)
|
|
||||||
corners1, ids1, _ = detect_markers(img1, detector_tuple)
|
|
||||||
corners2, ids2, _ = detect_markers(img2, detector_tuple)
|
|
||||||
if ids1 is None or ids2 is None:
|
|
||||||
print("[ERROR] No markers detected in one or both images.")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
ids1 = ids1.flatten().tolist()
|
|
||||||
ids2 = ids2.flatten().tolist()
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
# Build dicts: id -> corners, center, rvec/tvec (per-camera PnP)
|
|
||||||
def build_marker_dict(img, corners_list, ids, K, D, draw = False) -> Tuple[Dict[int,np.ndarray], Dict[int,np.ndarray], Dict[int,Tuple[np.ndarray,np.ndarray]]]:
|
|
||||||
centers = {}
|
|
||||||
corners_dict = {}
|
|
||||||
poses = {}
|
|
||||||
for i, mid in enumerate(ids):
|
|
||||||
C = corners_list[i]
|
|
||||||
corners_dict[int(mid)] = C
|
|
||||||
centers[int(mid)] = marker_center_from_corners(C)
|
|
||||||
# Pose from single marker
|
|
||||||
img_pts = corners_to_image_points(C)
|
|
||||||
success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, K, D, flags=cv2.SOLVEPNP_IPPE_SQUARE)
|
|
||||||
if not success:
|
|
||||||
success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, K, D)
|
|
||||||
if success:
|
|
||||||
poses[int(mid)] = (rvec.reshape(3,1), tvec.reshape(3,1))
|
|
||||||
if(draw):
|
|
||||||
cv2.drawFrameAxes(draw1, K, D, rvec, tvec, 0.02) # slim orientation axes
|
|
||||||
cv2.drawFrameAxes(drawPNG1, K, D, rvec, tvec, 0.02) # slim orientation axes
|
|
||||||
return centers, corners_dict, poses
|
|
||||||
|
|
||||||
centers1, corners_dict1, poses1 = build_marker_dict(img1, corners1, ids1, K1, D1, draw = True)
|
|
||||||
centers2, corners_dict2, poses2 = build_marker_dict(img2, corners2, ids2, K2, D2)
|
|
||||||
|
|
||||||
# Common reference markers present in both images and known in machine frame
|
|
||||||
common_refs = [mid for mid in known_markers.keys() if (mid in centers1 and mid in centers2)]
|
|
||||||
if len(common_refs) < 3:
|
|
||||||
print(f"[ERROR] Need ≥3 common reference markers in both cameras; found {len(common_refs)}: {common_refs}")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
# Initial extrinsics from rigid fits per camera using tvec centers of references
|
|
||||||
# For camera j, A = camera-frame positions of reference markers (from PnP tvec), B = machine positions
|
|
||||||
def init_extrinsics_from_rigid(poses_cam: Dict[int,Tuple[np.ndarray,np.ndarray]], refs: List[int]) -> Tuple[np.ndarray,np.ndarray]:
|
|
||||||
A = []
|
|
||||||
B = []
|
|
||||||
for mid in refs:
|
|
||||||
if mid in poses_cam:
|
|
||||||
_, tvec = poses_cam[mid]
|
|
||||||
A.append(tvec.flatten())
|
|
||||||
B.append(known_markers[mid])
|
|
||||||
if len(A) < 2:
|
|
||||||
raise RuntimeError("Insufficient reference poses for rigid transform init.")
|
|
||||||
A = np.stack(A, axis=0)
|
|
||||||
B = np.stack(B, axis=0)
|
|
||||||
R_cm, t_cm = rigid_transform_no_scale(A, B) # camera->machine
|
|
||||||
# Convert to machine->camera
|
|
||||||
R_mc = R_cm.T
|
|
||||||
t_mc = - R_mc @ t_cm
|
|
||||||
return R_mc.astype(np.float32), t_mc.astype(np.float32)
|
|
||||||
|
|
||||||
R1_init, t1_init = init_extrinsics_from_rigid(poses1, common_refs)
|
|
||||||
R2_init, t2_init = init_extrinsics_from_rigid(poses2, common_refs)
|
|
||||||
|
|
||||||
# Observations: reference centers (pixels) -> normalized
|
|
||||||
X_mach_refs = np.stack([known_markers[mid] for mid in common_refs], axis=0).astype(np.float32)
|
|
||||||
obs1_px = np.stack([centers1[mid] for mid in common_refs], axis=0).astype(np.float32)
|
|
||||||
obs2_px = np.stack([centers2[mid] for mid in common_refs], axis=0).astype(np.float32)
|
|
||||||
obs1_norm = undistort_to_normalized(obs1_px, K1, D1)
|
|
||||||
obs2_norm = undistort_to_normalized(obs2_px, K2, D2)
|
|
||||||
|
|
||||||
# Pack initial params as Rodrigues vectors
|
|
||||||
omega1_init = cv2.Rodrigues(R1_init)[0].reshape(3)
|
|
||||||
omega2_init = cv2.Rodrigues(R2_init)[0].reshape(3)
|
|
||||||
theta0 = pack_params(omega1_init, t1_init.reshape(3), omega2_init, t2_init.reshape(3))
|
|
||||||
|
|
||||||
theta_opt, hist = lm_solve(theta0, X_mach_refs, obs1_norm, obs2_norm,
|
|
||||||
max_iter=60, eps_jac=1e-6, lambda_init=1e-3)
|
|
||||||
|
|
||||||
omega1, t1, omega2, t2 = unpack_params(theta_opt)
|
|
||||||
R1_opt = cv2.Rodrigues(omega1)[0]
|
|
||||||
R2_opt = cv2.Rodrigues(omega2)[0]
|
|
||||||
|
|
||||||
# Camera pose in machine coordinates (camera->machine): R_cm = R^T, t_cm = -R^T t
|
|
||||||
R1_cm = R1_opt.T
|
|
||||||
t1_cm = - R1_cm @ t1
|
|
||||||
R2_cm = R2_opt.T
|
|
||||||
t2_cm = - R2_cm @ t2
|
|
||||||
|
|
||||||
# Build projection matrices for triangulation (machine -> pixels)
|
|
||||||
P1 = build_projection_matrix(K1, R1_opt, t1)
|
|
||||||
P2 = build_projection_matrix(K2, R2_opt, t2)
|
|
||||||
|
|
||||||
# Collect markers seen by at least one camera
|
|
||||||
all_ids = set(ids1) | set(ids2)
|
|
||||||
# Output structures
|
|
||||||
rows = [("id", "x_mm", "y_mm", "z_mm", "roll_deg", "pitch_deg", "yaw_deg")]
|
|
||||||
marker_list = []
|
|
||||||
|
|
||||||
# Camera orientations in Euler (ZYX)
|
|
||||||
def R_to_euler_zyx(R: np.ndarray) -> Tuple[float,float,float]:
|
|
||||||
yaw = float(np.degrees(np.arctan2(R[1,0], R[0,0])))
|
|
||||||
sp = np.sqrt(R[2,1]**2 + R[2,2]**2)
|
|
||||||
pitch = float(np.degrees(np.arctan2(-R[2,0], sp)))
|
|
||||||
roll = float(np.degrees(np.arctan2(R[2,1], R[2,2])))
|
|
||||||
return roll, pitch, yaw
|
|
||||||
|
|
||||||
cam1_roll, cam1_pitch, cam1_yaw = R_to_euler_zyx(R1_cm)
|
|
||||||
cam2_roll, cam2_pitch, cam2_yaw = R_to_euler_zyx(R2_cm)
|
|
||||||
|
|
||||||
# Camera rows
|
|
||||||
c1_mm = (t1_cm * 1000.0).tolist()
|
|
||||||
rows.append(("camera 0", f"{c1_mm[0]:.2f}", f"{c1_mm[1]:.2f}", f"{c1_mm[2]:.2f}", f"{cam1_roll:.3f}", f"{cam1_pitch:.3f}", f"{cam1_yaw:.3f}"))
|
|
||||||
c2_mm = (t2_cm * 1000.0).tolist()
|
|
||||||
rows.append(("camera 1", f"{c2_mm[0]:.2f}", f"{c2_mm[1]:.2f}", f"{c2_mm[2]:.2f}", f"{cam2_roll:.3f}", f"{cam2_pitch:.3f}", f"{cam2_yaw:.3f}"))
|
|
||||||
|
|
||||||
# Triangulate and output markers
|
|
||||||
def orientation_in_machine(mid: int) -> Tuple[float,float,float]:
|
|
||||||
# Prefer camera1 orientation, else camera2
|
|
||||||
if mid in poses1:
|
|
||||||
Rm_cam = rvec_to_R(poses1[mid][0])
|
|
||||||
Rm_machine = R1_cm @ Rm_cam
|
|
||||||
elif mid in poses2:
|
|
||||||
Rm_cam = rvec_to_R(poses2[mid][0])
|
|
||||||
Rm_machine = R2_cm @ Rm_cam
|
|
||||||
else:
|
|
||||||
Rm_machine = np.eye(3, dtype=np.float32)
|
|
||||||
return R_to_euler_zyx(Rm_machine)
|
|
||||||
|
|
||||||
# Residual report for references
|
|
||||||
# Recompute residual RMS in pixels for references (after optimization)
|
|
||||||
refs_rms_px = []
|
|
||||||
for j,(K,R_opt,t_opt,centers_px) in enumerate([(K1,R1_opt,t1,centers1),(K2,R2_opt,t2,centers2)]):
|
|
||||||
errs = []
|
|
||||||
for mid in common_refs:
|
|
||||||
X = known_markers[mid]
|
|
||||||
X_cam = R_opt @ X + t_opt
|
|
||||||
x = K @ X_cam
|
|
||||||
u_pred = x[0]/x[2]
|
|
||||||
v_pred = x[1]/x[2]
|
|
||||||
u_obs, v_obs = centers_px[mid]
|
|
||||||
errs.append(np.hypot(u_obs-u_pred, v_obs-v_pred))
|
|
||||||
refs_rms_px.append(float(np.sqrt(np.mean(np.square(errs))) if errs else 0.0))
|
|
||||||
|
|
||||||
# Compute per-marker positions
|
|
||||||
for mid in sorted(all_ids):
|
|
||||||
# Triangulate if seen in both
|
|
||||||
if mid in centers1 and mid in centers2:
|
|
||||||
X_mach = triangulate_center(P1, P2, centers1[mid], centers2[mid])
|
|
||||||
elif mid in poses1:
|
|
||||||
# Fallback single-camera: transform tvec (camera->machine)
|
|
||||||
X_mach = (R1_cm @ poses1[mid][1].flatten() + t1_cm)
|
|
||||||
elif mid in poses2:
|
|
||||||
X_mach = (R2_cm @ poses2[mid][1].flatten() + t2_cm)
|
|
||||||
else:
|
|
||||||
continue
|
|
||||||
roll, pitch, yaw = orientation_in_machine(mid)
|
|
||||||
x_mm, y_mm, z_mm = (X_mach * 1000.0).tolist()
|
|
||||||
rows.append((mid, f"{x_mm:.2f}", f"{y_mm:.2f}", f"{z_mm:.2f}", f"{roll:.3f}", f"{pitch:.3f}", f"{yaw:.3f}"))
|
|
||||||
marker_list.append({
|
|
||||||
"id": int(mid),
|
|
||||||
"position_mm": [float(x_mm), float(y_mm), float(z_mm)],
|
|
||||||
"orientation_deg": {"roll": float(roll), "pitch": float(pitch), "yaw": float(yaw)}
|
|
||||||
})
|
|
||||||
|
|
||||||
# Save CSV & JSON
|
|
||||||
base1 = os.path.splitext(args.images[0])[0]
|
|
||||||
base2 = os.path.splitext(args.images[1])[0]
|
|
||||||
out_csv = f"{base1}_two_cam.csv"
|
|
||||||
out_json = f"{base1}_two_cam.json"
|
|
||||||
|
|
||||||
try:
|
|
||||||
import csv
|
|
||||||
with open(out_csv, 'w', newline='') as f:
|
|
||||||
writer = csv.writer(f)
|
|
||||||
writer.writerows(rows)
|
|
||||||
print(f"[INFO] Saved CSV poses to '{out_csv}'.")
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Could not save CSV: {e}")
|
|
||||||
|
|
||||||
json_data = {
|
|
||||||
"metadata": {
|
|
||||||
"timestamp": time.strftime("%Y-%m-%d %H:%M:%S"),
|
|
||||||
"reference_markers": common_refs,
|
|
||||||
"dict": args.dict,
|
|
||||||
"marker_size_mm": args.markerSizeMM,
|
|
||||||
"rms_refs_px_cam1": refs_rms_px[0] if refs_rms_px else None,
|
|
||||||
"rms_refs_px_cam2": refs_rms_px[1] if refs_rms_px else None,
|
|
||||||
"description": "Two-camera joint optimization with triangulation"
|
|
||||||
},
|
|
||||||
"cameras": [
|
|
||||||
{
|
|
||||||
"id": "camera1",
|
|
||||||
"position_mm": [float(x) for x in (t1_cm * 1000.0)],
|
|
||||||
"orientation_deg": {"roll": cam1_roll, "pitch": cam1_pitch, "yaw": cam1_yaw},
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "camera2",
|
|
||||||
"position_mm": [float(x) for x in (t2_cm * 1000.0)],
|
|
||||||
"orientation_deg": {"roll": cam2_roll, "pitch": cam2_pitch, "yaw": cam2_yaw},
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"markers": marker_list
|
|
||||||
}
|
|
||||||
|
|
||||||
try:
|
|
||||||
with open(out_json, 'w', encoding='utf-8') as f:
|
|
||||||
json.dump(json_data, f, indent=4)
|
|
||||||
print(f"[INFO] Saved JSON poses to '{out_json}'.")
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Could not save JSON: {e}")
|
|
||||||
|
|
||||||
# Annotate images with machine axes using camera1 extrinsics
|
|
||||||
try:
|
|
||||||
R_machine_to_cam1 = R1_opt
|
|
||||||
t_machine_to_cam1 = t1
|
|
||||||
machine_axes = np.float32([
|
|
||||||
[0.0, 0.0, 0.0],
|
|
||||||
[0.200, 0.0, 0.0],
|
|
||||||
[0.0, -0.100, 0.0],
|
|
||||||
[0.0, 0.0, 0.100],
|
|
||||||
])
|
|
||||||
rvec_global, _ = cv2.Rodrigues(R_machine_to_cam1)
|
|
||||||
imgpts, _ = cv2.projectPoints(machine_axes, rvec_global, t_machine_to_cam1, K1, D1)
|
|
||||||
origin = tuple(np.round(imgpts[0].ravel()).astype(int))
|
|
||||||
x_end = tuple(np.round(imgpts[1].ravel()).astype(int))
|
|
||||||
y_end = tuple(np.round(imgpts[2].ravel()).astype(int))
|
|
||||||
z_end = tuple(np.round(imgpts[3].ravel()).astype(int))
|
|
||||||
|
|
||||||
# Draw marker outlines only (omit default small id labels) — we draw larger IDs below
|
|
||||||
cv2.aruco.drawDetectedMarkers(draw1, corners1)
|
|
||||||
cv2.aruco.drawDetectedMarkers(drawPNG1, corners1)
|
|
||||||
# Draw larger blue ID labels (keep default marker outlines as-is)
|
|
||||||
try:
|
|
||||||
for i, mid in enumerate(ids1):
|
|
||||||
try:
|
|
||||||
pts = corners1[i].reshape((4, 2))
|
|
||||||
center = tuple(np.round(pts.mean(axis=0)).astype(int))
|
|
||||||
except Exception:
|
|
||||||
continue
|
|
||||||
text = str(int(mid))
|
|
||||||
# Offset: 5px more to the right and 5px up (y axis is downwards)
|
|
||||||
pos = (int(center[0]) + 15, int(center[1]) - 15)
|
|
||||||
cv2.putText(draw1, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0), 3, lineType=cv2.LINE_AA)
|
|
||||||
cv2.putText(drawPNG1, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0,255), 3, lineType=cv2.LINE_AA)
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
cv2.line(draw1, origin, x_end, (0,0,255), 3)
|
|
||||||
cv2.line(draw1, origin, y_end, (0,255,0), 3)
|
|
||||||
cv2.line(draw1, origin, z_end, (255,0,0), 3)
|
|
||||||
|
|
||||||
# Draw lines (RGBA colors: B,G,R,A). A=255 for fully opaque.
|
|
||||||
cv2.line(drawPNG1, origin, x_end, (0, 0, 255, 255), 3) # Red X
|
|
||||||
cv2.line(drawPNG1, origin, y_end, (0, 255, 0, 255), 3) # Green Y
|
|
||||||
cv2.line(drawPNG1, origin, z_end, (255, 0, 0, 255), 3) # Blue Z
|
|
||||||
|
|
||||||
cv2.putText(draw1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2)
|
|
||||||
cv2.putText(draw1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2)
|
|
||||||
cv2.putText(draw1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2)
|
|
||||||
|
|
||||||
|
|
||||||
# Try to draw text (might be jaggy on transparent BG in older OpenCV)
|
|
||||||
cv2.putText(drawPNG1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255, 255), 2)
|
|
||||||
cv2.putText(drawPNG1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0, 255), 2)
|
|
||||||
cv2.putText(drawPNG1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0, 0, 255), 2)
|
|
||||||
|
|
||||||
|
|
||||||
out_img1 = f"{base1}_two_cam_annotated.jpg"
|
|
||||||
cv2.imwrite(out_img1, draw1)
|
|
||||||
print(f"[INFO] Annotated image saved as '{out_img1}'.")
|
|
||||||
|
|
||||||
# Save as transparent PNG
|
|
||||||
|
|
||||||
gray = cv2.cvtColor(drawPNG1, cv2.COLOR_BGR2GRAY)
|
|
||||||
_, alpha = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY)
|
|
||||||
|
|
||||||
# 5) Merge BGR + alpha → RGBA transparent overlay
|
|
||||||
drawPNG_1 = cv2.merge([drawPNG1[:, :, 0], drawPNG1[:, :, 1], drawPNG1[:, :, 2], alpha])
|
|
||||||
|
|
||||||
out_png1 = f"{base1}_two_cam_overlay.png"
|
|
||||||
cv2.imwrite(out_png1, drawPNG_1)
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Failed to draw machine axes: {e}")
|
|
||||||
|
|
||||||
# Also annotate the second camera image and produce a transparent overlay
|
|
||||||
try:
|
|
||||||
machine_axes2 = np.float32([
|
|
||||||
[0.0, 0.0, 0.0],
|
|
||||||
[0.200, 0.0, 0.0],
|
|
||||||
[0.0, -0.100, 0.0],
|
|
||||||
[0.0, 0.0, 0.100],
|
|
||||||
])
|
|
||||||
rvec_global2, _ = cv2.Rodrigues(R2_opt)
|
|
||||||
imgpts2, _ = cv2.projectPoints(machine_axes2, rvec_global2, t2, K2, D2)
|
|
||||||
origin2 = tuple(np.round(imgpts2[0].ravel()).astype(int))
|
|
||||||
x_end2 = tuple(np.round(imgpts2[1].ravel()).astype(int))
|
|
||||||
y_end2 = tuple(np.round(imgpts2[2].ravel()).astype(int))
|
|
||||||
z_end2 = tuple(np.round(imgpts2[3].ravel()).astype(int))
|
|
||||||
|
|
||||||
# Draw marker outlines only (omit default small id labels) — we draw larger IDs below
|
|
||||||
cv2.aruco.drawDetectedMarkers(draw2, corners2)
|
|
||||||
cv2.aruco.drawDetectedMarkers(drawPNG2, corners2)
|
|
||||||
# Draw larger blue ID labels (keep default marker outlines as-is)
|
|
||||||
try:
|
|
||||||
for i, mid in enumerate(ids2):
|
|
||||||
try:
|
|
||||||
pts = corners2[i].reshape((4, 2))
|
|
||||||
center = tuple(np.round(pts.mean(axis=0)).astype(int))
|
|
||||||
except Exception:
|
|
||||||
continue
|
|
||||||
text = str(int(mid))
|
|
||||||
# Offset: 5px more to the right and 5px up (y axis is downwards)
|
|
||||||
pos = (int(center[0]) + 13, int(center[1]) + 3)
|
|
||||||
cv2.putText(draw2, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0), 3, lineType=cv2.LINE_AA)
|
|
||||||
cv2.putText(drawPNG2, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0,255), 3, lineType=cv2.LINE_AA)
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cv2.line(draw2, origin2, x_end2, (0,0,255), 3)
|
|
||||||
cv2.line(draw2, origin2, y_end2, (0,255,0), 3)
|
|
||||||
cv2.line(draw2, origin2, z_end2, (255,0,0), 3)
|
|
||||||
|
|
||||||
cv2.line(drawPNG2, origin2, x_end2, (0, 0, 255, 255), 3)
|
|
||||||
cv2.line(drawPNG2, origin2, y_end2, (0, 255, 0, 255), 3)
|
|
||||||
cv2.line(drawPNG2, origin2, z_end2, (255, 0, 0, 255), 3)
|
|
||||||
|
|
||||||
cv2.putText(draw2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2)
|
|
||||||
cv2.putText(draw2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2)
|
|
||||||
cv2.putText(draw2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2)
|
|
||||||
|
|
||||||
cv2.putText(drawPNG2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255, 255), 2)
|
|
||||||
cv2.putText(drawPNG2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0, 255), 2)
|
|
||||||
cv2.putText(drawPNG2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0, 0, 255), 2)
|
|
||||||
|
|
||||||
out_img2 = f"{base2}_two_cam_annotated.jpg"
|
|
||||||
cv2.imwrite(out_img2, draw2)
|
|
||||||
print(f"[INFO] Annotated image saved as '{out_img2}'.")
|
|
||||||
|
|
||||||
gray2 = cv2.cvtColor(drawPNG2, cv2.COLOR_BGR2GRAY)
|
|
||||||
_, alpha2 = cv2.threshold(gray2, 0, 255, cv2.THRESH_BINARY)
|
|
||||||
drawPNG_2 = cv2.merge([drawPNG2[:, :, 0], drawPNG2[:, :, 1], drawPNG2[:, :, 2], alpha2])
|
|
||||||
out_png2 = f"{base2}_two_cam_overlay.png"
|
|
||||||
cv2.imwrite(out_png2, drawPNG_2)
|
|
||||||
print(f"[INFO] Overlay PNG saved as '{out_png2}'.")
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
print(f"[WARN] Failed to draw machine axes for camera2: {e}")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
@@ -1,135 +0,0 @@
|
|||||||
const fs = require('fs');
|
|
||||||
const path = require('path');
|
|
||||||
const { exec } = require('child_process');
|
|
||||||
const { logSnapshot } = require('./log');
|
|
||||||
|
|
||||||
|
|
||||||
function snapshot(outDir, cam0, cam1, ws){
|
|
||||||
|
|
||||||
if (!fs.existsSync(outDir)) fs.mkdirSync(outDir, { recursive: true });
|
|
||||||
const picDate = Date.now();
|
|
||||||
const name0 = `snapshot_video0_${picDate}.jpg`;
|
|
||||||
const name1 = `snapshot_video1_${picDate}.jpg`;
|
|
||||||
cam0.snapshot(path.join(outDir, name0));
|
|
||||||
cam1.snapshot(path.join(outDir, name1));
|
|
||||||
|
|
||||||
|
|
||||||
strFile0 = path.join(outDir, name0);
|
|
||||||
strFile1 = path.join(outDir, name1);
|
|
||||||
|
|
||||||
const relUrl = `/snapshots/${name0}`;
|
|
||||||
const relUrlApp = `/snapshots/${name0.replace('.jpg','_two_cam_annotated.jpg')}`;
|
|
||||||
// The Python postprocessor writes an overlay named "_two_cam_overlay.png" and a CSV named "_two_cam.csv"
|
|
||||||
const relOverlay = `/snapshots/${name0.replace('.jpg','_two_cam_overlay.png')}`;
|
|
||||||
const relOverlayCSV = `/snapshots/${name0.replace('.jpg','_two_cam.csv')}`;
|
|
||||||
|
|
||||||
const annotatedPath = path.join(outDir, name0.replace('.jpg','_two_cam_annotated.jpg'));
|
|
||||||
const overlayPath = path.join(outDir, name0.replace('.jpg','_two_cam_overlay.png'));
|
|
||||||
const csvPath = path.join(outDir, name0.replace('.jpg','_two_cam.csv'));
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
const command = `python3 /usr/src/app/programs/readTwoImages.py -i ${strFile0} -i ${strFile1} -npz /usr/src/app/data/settings/callibration_cam0.npz -npz /usr/src/app/data/settings/callibration_cam1.npz -settings /usr/src/app/data/settings/settings.json`;
|
|
||||||
console.log("Executing Python " + command);
|
|
||||||
|
|
||||||
// Run the Python post-processing and send the snapshot response only
|
|
||||||
// after the annotated files are present to avoid transient 404s in the browser.
|
|
||||||
exec(command, (error, stdout, stderr) => {
|
|
||||||
try {
|
|
||||||
if (error) {
|
|
||||||
console.error(`Error: ${error.message}`);
|
|
||||||
// Capture which generated files actually exist for debugging
|
|
||||||
const files = {
|
|
||||||
annotated: fs.existsSync(annotatedPath),
|
|
||||||
overlay: fs.existsSync(overlayPath),
|
|
||||||
csv: fs.existsSync(csvPath)
|
|
||||||
};
|
|
||||||
// Log full details server-side for diagnosis
|
|
||||||
const detailed = {
|
|
||||||
type: 'snapshot',
|
|
||||||
ok: false,
|
|
||||||
error: error.message,
|
|
||||||
stdout: String(stdout).slice(0, 4096),
|
|
||||||
stderr: String(stderr).slice(0, 4096),
|
|
||||||
files
|
|
||||||
};
|
|
||||||
logSnapshot(command, JSON.stringify(detailed));
|
|
||||||
|
|
||||||
// Send a short, user-friendly error to the client (no large stdout/stderr)
|
|
||||||
const shortError = String(stderr || error.message || '').includes('Corrupt JPEG')
|
|
||||||
? 'postprocessor failed: corrupt JPEG input'
|
|
||||||
: 'postprocessor failed';
|
|
||||||
try { ws.send(JSON.stringify({ type: 'snapshot', ok: false, error: shortError })); } catch (e) {}
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (stderr) {
|
|
||||||
// Log stderr but don't fail outright; sometimes tools output warnings on stderr.
|
|
||||||
if (String(stderr).trim()) console.error(`Stderr: ${stderr}`);
|
|
||||||
}
|
|
||||||
|
|
||||||
console.log(`Output:\n${stdout}`);
|
|
||||||
|
|
||||||
// Wait up to ~1s (10 * 100ms) for the generated files to appear on disk.
|
|
||||||
const waitForFiles = (paths, attempts = 10, delayMs = 100) => new Promise((resolve) => {
|
|
||||||
let tries = 0;
|
|
||||||
(function poll() {
|
|
||||||
const ok = paths.every(p => fs.existsSync(p));
|
|
||||||
if (ok || tries >= attempts) return resolve(ok);
|
|
||||||
tries++;
|
|
||||||
setTimeout(poll, delayMs);
|
|
||||||
})();
|
|
||||||
});
|
|
||||||
|
|
||||||
waitForFiles([annotatedPath, overlayPath, csvPath]).then((found) => {
|
|
||||||
if (!found) {
|
|
||||||
const files = {
|
|
||||||
annotated: fs.existsSync(annotatedPath),
|
|
||||||
overlay: fs.existsSync(overlayPath),
|
|
||||||
csv: fs.existsSync(csvPath)
|
|
||||||
};
|
|
||||||
// Log details server-side
|
|
||||||
const detailed = {
|
|
||||||
type: 'snapshot',
|
|
||||||
ok: false,
|
|
||||||
url: relUrl,
|
|
||||||
urlApp: relUrlApp,
|
|
||||||
overlay: relOverlay,
|
|
||||||
overlayCSV: relOverlayCSV,
|
|
||||||
files
|
|
||||||
};
|
|
||||||
logSnapshot(command, JSON.stringify(detailed));
|
|
||||||
// Send a concise error to the client
|
|
||||||
try { ws.send(JSON.stringify({ type: 'snapshot', ok: false, error: 'postprocessor incomplete (missing outputs)' })); } catch (e) {}
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
const response = JSON.stringify({
|
|
||||||
type: 'snapshot',
|
|
||||||
ok: found,
|
|
||||||
url: relUrl,
|
|
||||||
urlApp: relUrlApp,
|
|
||||||
overlay: relOverlay,
|
|
||||||
overlayCSV: relOverlayCSV
|
|
||||||
});
|
|
||||||
logSnapshot(command, response);
|
|
||||||
try { ws.send(response); } catch (e) {}
|
|
||||||
}).catch((waitErr) => {
|
|
||||||
console.error('waitForFiles failed:', waitErr);
|
|
||||||
const response = JSON.stringify({ type: 'snapshot', ok: false, error: String(waitErr) });
|
|
||||||
logSnapshot(command, response);
|
|
||||||
try { ws.send(response); } catch (e) {}
|
|
||||||
});
|
|
||||||
} catch (handlerErr) {
|
|
||||||
console.error('snapshot handler error:', handlerErr);
|
|
||||||
const response = JSON.stringify({ type: 'snapshot', ok: false, error: String(handlerErr) });
|
|
||||||
logSnapshot(command, response);
|
|
||||||
try { ws.send(response); } catch (e) {}
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
module.exports = { snapshot };
|
|
||||||
@@ -1,234 +0,0 @@
|
|||||||
// programs/videoServer.js
|
|
||||||
'use strict';
|
|
||||||
|
|
||||||
const fs = require('fs');
|
|
||||||
const { spawn } = require('child_process');
|
|
||||||
const WebSocket = require('ws');
|
|
||||||
|
|
||||||
class JpegFrameSplitter {
|
|
||||||
constructor(onFrame) {
|
|
||||||
this.onFrame = onFrame;
|
|
||||||
this.buffer = Buffer.alloc(0);
|
|
||||||
}
|
|
||||||
push(chunk) {
|
|
||||||
if (!chunk || !chunk.length) return;
|
|
||||||
this.buffer = Buffer.concat([this.buffer, chunk]);
|
|
||||||
let start = this.buffer.indexOf(Buffer.from([0xFF, 0xD8]));
|
|
||||||
while (start !== -1) {
|
|
||||||
const end = this.buffer.indexOf(Buffer.from([0xFF, 0xD9]), start + 2);
|
|
||||||
if (end === -1) break;
|
|
||||||
const frame = this.buffer.slice(start, end + 2);
|
|
||||||
try { this.onFrame(frame); } catch {}
|
|
||||||
this.buffer = this.buffer.slice(end + 2);
|
|
||||||
start = this.buffer.indexOf(Buffer.from([0xFF, 0xD8]));
|
|
||||||
}
|
|
||||||
if (this.buffer.length > 8 * 1024 * 1024) {
|
|
||||||
const nextSOI = this.buffer.indexOf(Buffer.from([0xFF, 0xD8]));
|
|
||||||
this.buffer = nextSOI !== -1 ? this.buffer.slice(nextSOI) : Buffer.alloc(0);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
class FFmpegStreamer {
|
|
||||||
/**
|
|
||||||
* devicePath: '/dev/videoX'
|
|
||||||
* options: {
|
|
||||||
* name, width, height, fps, quality,
|
|
||||||
* input: { format, fps, size, useWallclock, threadQueueSize, channel },
|
|
||||||
* tryFormats: [ 'mjpeg', undefined, 'yuyv422', 'rgb24' ]
|
|
||||||
* }
|
|
||||||
*/
|
|
||||||
constructor(devicePath, options = {}) {
|
|
||||||
this.devicePath = devicePath;
|
|
||||||
this.name = options.name || devicePath;
|
|
||||||
this.opts = {
|
|
||||||
width: options.width ?? undefined,
|
|
||||||
height: options.height ?? undefined,
|
|
||||||
fps: options.fps ?? 20,
|
|
||||||
quality: options.quality ?? 5,
|
|
||||||
input: {
|
|
||||||
format: options.input?.format,
|
|
||||||
fps: options.input?.fps,
|
|
||||||
size: options.input?.size,
|
|
||||||
useWallclock: options.input?.useWallclock ?? true,
|
|
||||||
threadQueueSize: options.input?.threadQueueSize ?? 64,
|
|
||||||
channel: options.input?.channel,
|
|
||||||
},
|
|
||||||
tryFormats: (options.tryFormats || [options.input?.format, 'yuyv422', 'mjpeg', 'rgb24'])
|
|
||||||
.filter((v, i, a) => a.indexOf(v) === i),
|
|
||||||
};
|
|
||||||
|
|
||||||
this.proc = null;
|
|
||||||
this.clients = new Set();
|
|
||||||
this.startedAt = null;
|
|
||||||
this.latestFrame = null;
|
|
||||||
this.splitter = null;
|
|
||||||
|
|
||||||
this.formatIdx = 0;
|
|
||||||
this.currentFormat = this.opts.tryFormats[this.formatIdx];
|
|
||||||
|
|
||||||
this._restarting = false;
|
|
||||||
this._backoffMs = 500;
|
|
||||||
this._maxBackoffMs = 8000;
|
|
||||||
this._stderrBuf = [];
|
|
||||||
this._stderrMaxLines = 8;
|
|
||||||
|
|
||||||
this._quickFailCount = 0;
|
|
||||||
this._quickFailLimit = 6;
|
|
||||||
this._suspendedUntil = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
get running() { return !!this.proc; }
|
|
||||||
_scaling() { return Number(this.opts.width) > 0 && Number(this.opts.height) > 0; }
|
|
||||||
|
|
||||||
_buildFfmpegArgs() {
|
|
||||||
const outFps = this.opts.fps;
|
|
||||||
const quality = this.opts.quality;
|
|
||||||
const scaling = this._scaling();
|
|
||||||
|
|
||||||
const inFmt = this.currentFormat;
|
|
||||||
const inFps = this.opts.input.fps;
|
|
||||||
const inSize = this.opts.input.size;
|
|
||||||
const useWallclock = this.opts.input.useWallclock;
|
|
||||||
const tqs = this.opts.input.threadQueueSize;
|
|
||||||
const inChannel = this.opts.input.channel;
|
|
||||||
|
|
||||||
const args = [
|
|
||||||
'-hide_banner', '-loglevel', 'error', '-nostdin',
|
|
||||||
'-f', 'video4linux2',
|
|
||||||
...(tqs ? ['-thread_queue_size', String(tqs)] : []),
|
|
||||||
...(inFmt ? ['-input_format', String(inFmt)] : []),
|
|
||||||
...(inFps ? ['-framerate', String(inFps)] : []),
|
|
||||||
...(inSize ? ['-video_size', String(inSize)] : []),
|
|
||||||
...(typeof inChannel === 'number' ? ['-channel', String(inChannel)] : []),
|
|
||||||
...(useWallclock ? ['-use_wallclock_as_timestamps', '1'] : []),
|
|
||||||
'-i', this.devicePath,
|
|
||||||
'-fflags', 'nobuffer', '-flags', 'low_delay', '-an', '-sn',
|
|
||||||
];
|
|
||||||
|
|
||||||
if (inFmt === 'mjpeg' && !scaling) {
|
|
||||||
args.push('-vsync', 'passthrough', '-c:v', 'copy', '-f', 'mjpeg', 'pipe:1');
|
|
||||||
return args;
|
|
||||||
}
|
|
||||||
if (scaling) args.push('-vf', `scale=${Number(this.opts.width)}:${Number(this.opts.height)}`);
|
|
||||||
if (outFps) args.push('-r', String(outFps));
|
|
||||||
args.push('-f', 'mjpeg', '-q:v', String(quality), 'pipe:1');
|
|
||||||
return args;
|
|
||||||
}
|
|
||||||
|
|
||||||
_logStderr(d) {
|
|
||||||
const s = d.toString().trim();
|
|
||||||
if (!s) return;
|
|
||||||
this._stderrBuf.push(s);
|
|
||||||
if (this._stderrBuf.length > this._stderrMaxLines) this._stderrBuf.shift();
|
|
||||||
}
|
|
||||||
|
|
||||||
start() {
|
|
||||||
if (this.proc) return;
|
|
||||||
if (Date.now() < this._suspendedUntil) {
|
|
||||||
const wait = this._suspendedUntil - Date.now();
|
|
||||||
console.warn(`[FFmpeg] ${this.name} suspended for ${wait}ms due to repeated failures`);
|
|
||||||
return setTimeout(() => this.start(), wait);
|
|
||||||
}
|
|
||||||
|
|
||||||
const args = this._buildFfmpegArgs();
|
|
||||||
console.log(`[FFmpeg] Start ${this.devicePath} (${this.name}) :: ${args.join(' ')}`);
|
|
||||||
|
|
||||||
this._stderrBuf = [];
|
|
||||||
this.proc = spawn('ffmpeg', args, { stdio: ['ignore', 'pipe', 'pipe'], detached: true });
|
|
||||||
this.startedAt = Date.now();
|
|
||||||
|
|
||||||
this.splitter = new JpegFrameSplitter((frame) => {
|
|
||||||
this.latestFrame = frame;
|
|
||||||
this._broadcast(frame);
|
|
||||||
});
|
|
||||||
|
|
||||||
this.proc.stdout.on('data', (chunk) => this.splitter?.push(chunk));
|
|
||||||
this.proc.stderr.on('data', (d) => this._logStderr(d));
|
|
||||||
|
|
||||||
this.proc.on('exit', (code, signal) => {
|
|
||||||
console.warn(`[FFmpeg] ${this.devicePath} exited code=${code} sig=${signal}`);
|
|
||||||
if (this._stderrBuf.length) console.warn(`[FFmpeg] ${this.name} last errors:\n - ${this._stderrBuf.join('\n - ')}`);
|
|
||||||
|
|
||||||
this.proc = null;
|
|
||||||
const quick = (Date.now() - (this.startedAt || Date.now())) < 2000;
|
|
||||||
this.startedAt = null;
|
|
||||||
|
|
||||||
if (quick && !this._restarting) {
|
|
||||||
this._quickFailCount++;
|
|
||||||
this.formatIdx = (this.formatIdx + 1) % this.opts.tryFormats.length;
|
|
||||||
this.currentFormat = this.opts.tryFormats[this.formatIdx];
|
|
||||||
console.warn(`[FFmpeg] ${this.name}: quick failure -> trying next format: ${this.currentFormat}`);
|
|
||||||
} else {
|
|
||||||
this._quickFailCount = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (this._quickFailCount >= this._quickFailLimit) {
|
|
||||||
this._suspendedUntil = Date.now() + 60000; // 60s pause
|
|
||||||
this._quickFailCount = 0;
|
|
||||||
console.error(`[FFmpeg] ${this.name}: too many quick failures; suspending restarts for 60s`);
|
|
||||||
}
|
|
||||||
|
|
||||||
const delay = this._restarting ? 300 : Math.min(this._backoffMs, this._maxBackoffMs);
|
|
||||||
setTimeout(() => {
|
|
||||||
if (!this._restarting) this._backoffMs = Math.min(this._backoffMs * 2, this._maxBackoffMs);
|
|
||||||
else this._backoffMs = 500;
|
|
||||||
this.start();
|
|
||||||
}, delay);
|
|
||||||
this._restarting = false;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
_killProcessGroup(signal = 'SIGTERM') {
|
|
||||||
if (!this.proc) return;
|
|
||||||
try {
|
|
||||||
if (process.platform !== 'win32') process.kill(-this.proc.pid, signal);
|
|
||||||
else this.proc.kill(signal);
|
|
||||||
} catch {}
|
|
||||||
}
|
|
||||||
|
|
||||||
stop() {
|
|
||||||
if (!this.proc) return;
|
|
||||||
this._restarting = false;
|
|
||||||
this._killProcessGroup('SIGTERM');
|
|
||||||
}
|
|
||||||
|
|
||||||
restart(newOpts = {}) {
|
|
||||||
this._restarting = true;
|
|
||||||
if (newOpts.input) this.opts.input = { ...this.opts.input, ...newOpts.input };
|
|
||||||
this.opts = { ...this.opts, ...newOpts, input: this.opts.input };
|
|
||||||
if (newOpts.input && Object.prototype.hasOwnProperty.call(newOpts.input, 'format')) {
|
|
||||||
const idx = this.opts.tryFormats.indexOf(this.opts.input.format);
|
|
||||||
if (idx >= 0) {
|
|
||||||
this.formatIdx = idx;
|
|
||||||
this.currentFormat = this.opts.tryFormats[this.formatIdx];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (this.proc) this._killProcessGroup('SIGTERM'); else { this._restarting = false; this.start(); }
|
|
||||||
}
|
|
||||||
|
|
||||||
attach(ws) {
|
|
||||||
this.clients.add(ws);
|
|
||||||
if (this.latestFrame && ws.readyState === WebSocket.OPEN) {
|
|
||||||
try { ws.send(this.latestFrame, { binary: true }); } catch {}
|
|
||||||
}
|
|
||||||
ws.on('close', () => this.clients.delete(ws));
|
|
||||||
}
|
|
||||||
|
|
||||||
snapshot(toFile) {
|
|
||||||
if (!this.latestFrame) throw new Error('No frame available yet');
|
|
||||||
fs.writeFileSync(toFile, this.latestFrame);
|
|
||||||
return toFile;
|
|
||||||
}
|
|
||||||
|
|
||||||
_broadcast(frame) {
|
|
||||||
if (!this.clients.size) return;
|
|
||||||
for (const ws of this.clients) {
|
|
||||||
if (ws.readyState !== WebSocket.OPEN) continue;
|
|
||||||
if (ws.bufferedAmount > 512 * 1024) continue; // drop if back-pressured
|
|
||||||
try { ws.send(frame, { binary: true }); } catch {}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
module.exports = { FFmpegStreamer };
|
|
||||||
@@ -1,110 +0,0 @@
|
|||||||
var isRunning = false;
|
|
||||||
var gamePadId = 0;
|
|
||||||
var gamepad = {};
|
|
||||||
|
|
||||||
let lastCheckTime = 0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
function checkGamePad() {
|
|
||||||
if(isRunning == false){return;}
|
|
||||||
|
|
||||||
const stepSize = "0.01";
|
|
||||||
const stepSizeXYZ = "0.5"; // 3 ist auch ok
|
|
||||||
const stepSizeE = "0.01";
|
|
||||||
var gp = navigator.getGamepads()[gamePadId]
|
|
||||||
var buttons = gp.buttons
|
|
||||||
|
|
||||||
var xyzSpeed = 10; // 100 geht auch
|
|
||||||
|
|
||||||
var psi = gp.axes[0];
|
|
||||||
var z = gp.axes[1];
|
|
||||||
var x = gp.axes[2];
|
|
||||||
var y = gp.axes[3];
|
|
||||||
|
|
||||||
|
|
||||||
// Dreieck zum Dreieck-Setzen
|
|
||||||
if (buttons[3].pressed) {
|
|
||||||
socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B${-1.0*Math.PI/2} C0 F${xyzSpeed}`);
|
|
||||||
}
|
|
||||||
if (buttons[4].pressed) {
|
|
||||||
//console.log("x=" + robot.x + " y=" + robot.y + " z=" + robot.z);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// X Button setzt eine Marke
|
|
||||||
if(buttons[0].pressed && (Date.now() - lastCheckTime > 500)){
|
|
||||||
lastCheckTime = Date.now()
|
|
||||||
console.log('FPoint!');
|
|
||||||
socketDriver.send('FPoint');
|
|
||||||
socketDriver.send('FShow');
|
|
||||||
}
|
|
||||||
|
|
||||||
// L1 und R1 Button to forward-backward in Point-List
|
|
||||||
if(gp.buttons[4].pressed && (Date.now() - lastCheckTime > 500)){
|
|
||||||
lastCheckTime = Date.now()
|
|
||||||
socketDriver.send('FMinus');
|
|
||||||
socketDriver.send('FShow');
|
|
||||||
}
|
|
||||||
if(gp.buttons[5].pressed && (Date.now() - lastCheckTime > 500)){
|
|
||||||
lastCheckTime = Date.now()
|
|
||||||
socketDriver.send('FPlus');
|
|
||||||
socketDriver.send('FShow');
|
|
||||||
}
|
|
||||||
|
|
||||||
if (x < -0.2) { socketDriver.send(`G91 G1 X+${stepSizeXYZ} F${xyzSpeed}`);}
|
|
||||||
if (x > 0.2) { socketDriver.send(`G91 G1 X-${stepSizeXYZ} F${xyzSpeed}`);}
|
|
||||||
|
|
||||||
if (y < -0.2) { socketDriver.send(`G91 G1 Y${stepSizeXYZ} F${xyzSpeed}`); }
|
|
||||||
if (y > 0.2) { socketDriver.send(`G91 G1 Y-${stepSizeXYZ} F${xyzSpeed}`);}
|
|
||||||
|
|
||||||
if (z < -0.2) { socketDriver.send(`G91 G1 Z${stepSizeXYZ} F${xyzSpeed}`); }
|
|
||||||
if (z > 0.2) { socketDriver.send(`G91 G1 Z-${stepSizeXYZ} F${xyzSpeed}`); }
|
|
||||||
|
|
||||||
|
|
||||||
// Greif-Richtung
|
|
||||||
// LeftRight
|
|
||||||
if(buttons[14].pressed){ socketDriver.send(`G91 G1 A${stepSize} F${xyzSpeed}`);}
|
|
||||||
if(buttons[15].pressed){ socketDriver.send(`G91 G1 A-${stepSize} F${xyzSpeed}`);}
|
|
||||||
// Up - Down
|
|
||||||
if(buttons[12].pressed){ socketDriver.send(`G91 G1 B${stepSize} F${xyzSpeed}`);}
|
|
||||||
if(buttons[13].pressed){ socketDriver.send(`G91 G1 B-${stepSize} F${xyzSpeed}`);}
|
|
||||||
// Drehung
|
|
||||||
if (psi < -0.2) { socketDriver.send(`G91 G1 C${stepSize} F${xyzSpeed}`); }
|
|
||||||
if (psi > 0.2) { socketDriver.send(`G91 G1 C-${stepSize} F${xyzSpeed}`); }
|
|
||||||
|
|
||||||
// Trigger-Buttons für Öffnen und Schliessen
|
|
||||||
if(buttons[6].pressed){socketDriver.send(`G91 G1 E-${stepSizeE} F${xyzSpeed}`);}
|
|
||||||
if(buttons[7].pressed){socketDriver.send(`G91 G1 E${stepSizeE} F${xyzSpeed}`);}
|
|
||||||
|
|
||||||
if (isRunning) { setTimeout(checkGamePad, 15);}
|
|
||||||
}
|
|
||||||
|
|
||||||
function gamepadHandler(event, connecting) {
|
|
||||||
|
|
||||||
gamepad = event.gamepad;
|
|
||||||
if (typeof gamepad === `undefined`) {
|
|
||||||
isRunning = false;
|
|
||||||
gamePadId = 0;
|
|
||||||
console.warn("GamePad kann nicht gefunden werden");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (connecting) {
|
|
||||||
console.log("GamePad " + event.gamepad.index + " connected");
|
|
||||||
gamePadId = gamepad.index;
|
|
||||||
isRunning = true;
|
|
||||||
setTimeout(checkGamePad, 20);
|
|
||||||
} else {
|
|
||||||
console.log("GamePad " +gamePadId +" disconnected");
|
|
||||||
isRunning = false;
|
|
||||||
gamePadId = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
window.addEventListener("gamepadconnected", function (e) { gamepadHandler(e, true); }, false);
|
|
||||||
window.addEventListener("gamepaddisconnected", function (e) { gamepadHandler(e, false); }, false);
|
|
||||||
|
|
||||||
document.addEventListener("touchstart", e => { console.log("TouchStart"); })
|
|
||||||
@@ -1,64 +0,0 @@
|
|||||||
document.onkeydown = checkKey;
|
|
||||||
|
|
||||||
function checkKey(e) {
|
|
||||||
|
|
||||||
e = e || window.event;
|
|
||||||
|
|
||||||
if(e.key == 'a' || e.key == 'A')
|
|
||||||
{
|
|
||||||
console.log("back to A position");
|
|
||||||
socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B-${Math.PI/2} C0 F100`);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Hand-Winkel (Eulerwinkel)
|
|
||||||
else if(e.key == 'i' || e.key == 'I'){
|
|
||||||
socketDriver.send('G91 G1 B+0.1 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'k' || e.key == 'K'){
|
|
||||||
socketDriver.send('G91 G1 B-0.1 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'l' || e.key == 'L'){
|
|
||||||
socketDriver.send('G91 G1 A+0.1 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'j' || e.key == 'J'){
|
|
||||||
socketDriver.send('G91 G1 A-0.1 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'o' || e.key == 'O'){
|
|
||||||
socketDriver.send('G91 G1 C+0.1 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'u' || e.key == 'U'){
|
|
||||||
socketDriver.send('G91 G1 C-0.1 F100');
|
|
||||||
}
|
|
||||||
|
|
||||||
// XYZ Koordinaten
|
|
||||||
else if(e.key == 'e' || e.key == 'E'){
|
|
||||||
socketDriver.send('G91 G1 Z+5 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'd' || e.key == 'D'){
|
|
||||||
socketDriver.send('G91 G1 Z-5 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 's' || e.key == 'S'){
|
|
||||||
socketDriver.send('G91 G1 X5 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'f' || e.key == 'S'){
|
|
||||||
socketDriver.send('G91 G1 X-5 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'r' || e.key == 'R'){
|
|
||||||
socketDriver.send('G91 G1 Y5 F100');
|
|
||||||
}
|
|
||||||
else if(e.key == 'w' || e.key == 'W'){
|
|
||||||
socketDriver.send('G91 G1 Y-5 F100');
|
|
||||||
}
|
|
||||||
|
|
||||||
// File & Log-Operations
|
|
||||||
else if(e.key == ' '){
|
|
||||||
console.log('FPoint!')
|
|
||||||
socketDriver.send('FPoint');
|
|
||||||
}
|
|
||||||
else if(e.key == 'b'){
|
|
||||||
socketDriver.send('FMinus');
|
|
||||||
}
|
|
||||||
else if(e.key == 'n'){
|
|
||||||
socketDriver.send('FPlus');
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
const protocolS = location.protocol === "https:" ? "wss://" : "ws://";
|
|
||||||
const robotURL = protocolS + location.host + "/ws/robot";
|
|
||||||
console.log("socketDriver try to connect to "+ robotURL);
|
|
||||||
|
|
||||||
const socketDriver = new WebSocket(robotURL);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
socketDriver.onopen = () => { console.log("socketDriver WebSocket connected"); };
|
|
||||||
|
|
||||||
socketDriver.onmessage = (event) => {
|
|
||||||
if(event.data.toString().includes("position")){
|
|
||||||
console.log("Position: " + event.data);
|
|
||||||
}
|
|
||||||
else if(event.data.toString().includes("XYZ__FShow__XYZ")){
|
|
||||||
const content = event.data.toString().split("XYZ__FShow__XYZ")[1];
|
|
||||||
document.querySelectorAll("textarea#GCodeWindow.editor-look")[0].value = content;
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
console.log('DATA SinceStartup: ' + (Date.now() - startTime).toString() +': ', event.data);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
socketDriver.onclose = () => {console.log("socketDriver WebSocket is closing");};
|
|
||||||
socketDriver.onerror = (err) => { console.error("socketDriver socket error:", err); };
|
|
||||||
@@ -1,72 +0,0 @@
|
|||||||
// /public/app.js
|
|
||||||
// Small bootstrap moved out of index.html to satisfy CSP (`script-src 'self'`).
|
|
||||||
(function () {
|
|
||||||
const isSecure = location.protocol === 'https:';
|
|
||||||
const wsProto = isSecure ? 'wss' : 'ws';
|
|
||||||
const base = `${wsProto}://${location.host}`;
|
|
||||||
|
|
||||||
// Camera 0 with control channel
|
|
||||||
window.VideoService.attachStream({
|
|
||||||
url: `${base}/ws/video0`,
|
|
||||||
canvas: document.getElementById('canvas0'),
|
|
||||||
statusEl: document.getElementById('status0'),
|
|
||||||
control: {
|
|
||||||
resSelect: document.getElementById('res0'),
|
|
||||||
fpsSelect: document.getElementById('fps0'),
|
|
||||||
qSelect: document.getElementById('q0'),
|
|
||||||
applyBtn: document.getElementById('apply0'),
|
|
||||||
snapshotBtn: document.getElementById('snap0'),
|
|
||||||
startBtn: document.getElementById('start0'),
|
|
||||||
stopBtn: document.getElementById('stop0'),
|
|
||||||
snapshotOutEl: document.getElementById('snapshotLink'),
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
// Camera 1 (no control)
|
|
||||||
window.VideoService.attachStream({
|
|
||||||
url: `${base}/ws/video1`,
|
|
||||||
canvas: document.getElementById('canvas1'),
|
|
||||||
statusEl: document.getElementById('status1'),
|
|
||||||
});
|
|
||||||
|
|
||||||
// Run an automatic snapshot shortly after the page loads so the client
|
|
||||||
// receives the freshest annotated image/CSV on startup. This uses a
|
|
||||||
// synthetic click on the snapshot button; the handler will no-op if the
|
|
||||||
// WebSocket isn't open yet.
|
|
||||||
setTimeout(() => {
|
|
||||||
const snapBtn = document.getElementById('snap0');
|
|
||||||
if (snapBtn) snapBtn.click();
|
|
||||||
}, 200);
|
|
||||||
|
|
||||||
// Attach handlers for the Point/Up/Down buttons (no inline JS, CSP-safe)
|
|
||||||
const btnPoint = document.getElementById('btnPoint');
|
|
||||||
const btnDown = document.getElementById('btnDown');
|
|
||||||
const btnUp = document.getElementById('btnUp');
|
|
||||||
if (btnPoint) btnPoint.addEventListener('click', () => {
|
|
||||||
console.log('FPoint!');
|
|
||||||
try { socketDriver.send('FPoint'); socketDriver.send('FShow'); } catch (e) { console.error(e); }
|
|
||||||
});
|
|
||||||
if (btnDown) btnDown.addEventListener('click', () => {
|
|
||||||
console.log('FPlus');
|
|
||||||
try { socketDriver.send('FPlus'); socketDriver.send('FShow'); } catch (e) { console.error(e); }
|
|
||||||
});
|
|
||||||
if (btnUp) btnUp.addEventListener('click', () => {
|
|
||||||
console.log('FMinus');
|
|
||||||
try { socketDriver.send('FMinus'); socketDriver.send('FShow'); } catch (e) { console.error(e); }
|
|
||||||
});
|
|
||||||
|
|
||||||
// Other buttons that were previously using inline onclicks.
|
|
||||||
const btnInfo = document.getElementById('b_M114');
|
|
||||||
const btnNull = document.getElementById('b_G28');
|
|
||||||
const btnListFile = document.getElementById('btnListFile');
|
|
||||||
const btnSendGCode = document.getElementById('btnSendGCode');
|
|
||||||
if (btnInfo) btnInfo.addEventListener('click', () => { try { socketDriver.send('M114'); } catch (e) { console.error(e); } });
|
|
||||||
if (btnNull) btnNull.addEventListener('click', () => { try { socketDriver.send('G28'); } catch (e) { console.error(e); } });
|
|
||||||
if (btnListFile) btnListFile.addEventListener('click', () => { try { socketDriver.send('FShow'); } catch (e) { console.error(e); } });
|
|
||||||
if (btnSendGCode) btnSendGCode.addEventListener('click', () => {
|
|
||||||
try {
|
|
||||||
const input = document.getElementById('GKarth');
|
|
||||||
if (input && input.value) socketDriver.send(input.value);
|
|
||||||
} catch (e) { console.error(e); }
|
|
||||||
});
|
|
||||||
})();
|
|
||||||
@@ -1,23 +0,0 @@
|
|||||||
|
|
||||||
|
|
||||||
document.getElementById("b_uparrow").addEventListener('click',() => { socketDriver.send(`G91 G1 Z10 F100`);});
|
|
||||||
document.getElementById("b_downarw").addEventListener('click',() => { socketDriver.send(`G90 G1 Z-10 F100`);});
|
|
||||||
document.getElementById("b_right").addEventListener('click',() => { socketDriver.send(`G90 G1 X10 F100`);});
|
|
||||||
document.getElementById("b_left").addEventListener('click',() => { socketDriver.send(`G90 G1 X-10 F100`);});
|
|
||||||
document.getElementById("b_forward").addEventListener('click',() => { socketDriver.send(`G90 G1 Y10 F100`);});
|
|
||||||
document.getElementById("b_backward").addEventListener('click',() => { socketDriver.send(`G90 G1 Y-10 F100`);});
|
|
||||||
|
|
||||||
document.getElementById("b_aPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 A0.10 F100`);});
|
|
||||||
document.getElementById("b_aMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 A-0.10 F100`);});
|
|
||||||
document.getElementById("b_bPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 B0.10 F100`);});
|
|
||||||
document.getElementById("b_bMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 B-0.10 F100`);});
|
|
||||||
document.getElementById("b_cPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 C0.10 F100`);});
|
|
||||||
document.getElementById("b_cMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 C-0.10 F100`);});
|
|
||||||
|
|
||||||
document.getElementById("b_ePlus").addEventListener('click',() => { socketDriver.send(`G91 G1 E0.10 F100`);});
|
|
||||||
document.getElementById("b_eMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 E-0.10 F100`);});
|
|
||||||
|
|
||||||
|
|
||||||
document.getElementById("b_default").addEventListener('click',() => { socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B-${Math.PI/2} C0 F100`);});
|
|
||||||
document.getElementById("b_G28").addEventListener('click',() => { socketDriver.send(`G28`);});
|
|
||||||
document.getElementById("b_M114").addEventListener('click',() => { socketDriver.send(`M114`);});
|
|
||||||
@@ -1,108 +0,0 @@
|
|||||||
<!doctype html>
|
|
||||||
<html lang="en">
|
|
||||||
<head>
|
|
||||||
<meta charset="utf-8"/>
|
|
||||||
<title>Dual Camera Stream (HTTPS + WSS)</title>
|
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
||||||
<script src="WebSocket.js" defer></script>
|
|
||||||
<script src="buttonCmd.js" defer></script>
|
|
||||||
<script src="GamePad.js" defer></script>
|
|
||||||
<script src="KeyboardInput.js" defer></script>
|
|
||||||
<link rel="stylesheet" href="indexA.css">
|
|
||||||
</head>
|
|
||||||
<body>
|
|
||||||
<h1>Robot Control</h1>
|
|
||||||
|
|
||||||
<div class="grid">
|
|
||||||
<!-- Camera 0 -->
|
|
||||||
<section class="panel">
|
|
||||||
<h2>Camera 0</h2>
|
|
||||||
|
|
||||||
|
|
||||||
<div class="video-wrap">
|
|
||||||
<canvas id="canvas0" width="1280" height="720"></canvas>
|
|
||||||
<img id="overlayImg"
|
|
||||||
src="/snapshots/snapshot_video0_1765356085372_two_cam_overlay.png">
|
|
||||||
</div>
|
|
||||||
<div id="status0" class="status">Connecting…</div>
|
|
||||||
</section>
|
|
||||||
|
|
||||||
<!-- Camera 1 -->
|
|
||||||
<section class="panel">
|
|
||||||
<h2>Camera 1</h2>
|
|
||||||
<div class="video-wrap">
|
|
||||||
<canvas id="canvas1" width="1280" height="720"></canvas>
|
|
||||||
</div>
|
|
||||||
<div id="status1" class="status">Connecting…</div>
|
|
||||||
</section>
|
|
||||||
|
|
||||||
<section class="panel">
|
|
||||||
<div class="controls">
|
|
||||||
|
|
||||||
|
|
||||||
<div style="display:flex; gap:0.5rem; align-items:end;">
|
|
||||||
<button id="snap0">Snapshot</button>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="snapshotLink" class="status"></div>
|
|
||||||
<div id="csvTable" class="status"></div>
|
|
||||||
|
|
||||||
</section>
|
|
||||||
|
|
||||||
<section class="panel">
|
|
||||||
|
|
||||||
<div id="divButtons">
|
|
||||||
<h3>Controls</h3>
|
|
||||||
<button id="b_uparrow">Up</button>
|
|
||||||
<button id="b_downarw">Down</button>
|
|
||||||
</br/>
|
|
||||||
<button id="b_right">Right</button>
|
|
||||||
<button id="b_left">Left</button>
|
|
||||||
<br/>
|
|
||||||
<button id="b_forward">Forward</button>
|
|
||||||
<button id="b_backward">Backward</button>
|
|
||||||
<br/>
|
|
||||||
<button id="b_M114">Info</button>
|
|
||||||
<button id="b_G28">Null</button>
|
|
||||||
<button id="b_default">△ Default</button>
|
|
||||||
<br/>
|
|
||||||
<br/>
|
|
||||||
<button id="b_aPlus" >a+</button>
|
|
||||||
<button id="b_aMinus">a-</button>
|
|
||||||
<br/>
|
|
||||||
<button id="b_bPlus" >B+</button>
|
|
||||||
<button id="b_bMinus">B-</button>
|
|
||||||
<br/>
|
|
||||||
<button id="b_cPlus" >C+</button>
|
|
||||||
<button id="b_cMinus">C-</button>
|
|
||||||
|
|
||||||
<br/>
|
|
||||||
<button id="b_ePlus" >E+</button>
|
|
||||||
<button id="b_eMinus">E-</button>
|
|
||||||
</div>
|
|
||||||
<div id="divGCodeWindow">
|
|
||||||
<div id="GCode">
|
|
||||||
<form onsubmit="return false;"><input id="GKarth"/><button id="btnSendGCode" type="button">Send GCode</button></form>
|
|
||||||
<br/>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<button id="btnListFile" type="button">ListFile</button>
|
|
||||||
<br/>
|
|
||||||
<textarea id="GCodeWindow" class="editor-look" readonly>
|
|
||||||
|
|
||||||
</textarea>
|
|
||||||
<br/>
|
|
||||||
<button id="btnPoint">🗙 Point</button>
|
|
||||||
<button id="btnDown">⇩</button>
|
|
||||||
<button id="btnUp">⇧</button>
|
|
||||||
</div>
|
|
||||||
</section>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<!-- External scripts only (CSP-safe, no inline JS) -->
|
|
||||||
<script src="/readCSV.js" defer></script>
|
|
||||||
<script src="/videoService.js" defer></script>
|
|
||||||
<script src="/app.js" defer></script>
|
|
||||||
</body>
|
|
||||||
</html>
|
|
||||||
@@ -1,203 +0,0 @@
|
|||||||
:root { color-scheme: dark light; }
|
|
||||||
/* Overlay opacity is configurable here. Set to 1 to let PNG alpha be authoritative */
|
|
||||||
:root {
|
|
||||||
--overlay-opacity: 1; /* default overlay alpha applied client-side */
|
|
||||||
}
|
|
||||||
|
|
||||||
body {
|
|
||||||
font-family: system-ui, -apple-system, Segoe UI, Roboto, sans-serif;
|
|
||||||
margin: 0;
|
|
||||||
padding: 1rem;
|
|
||||||
background: #0b1020;
|
|
||||||
color: #e7eaf6;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
h1, h2 {
|
|
||||||
margin: 0.5rem 0 0.25rem;
|
|
||||||
}
|
|
||||||
|
|
||||||
.grid {
|
|
||||||
display: grid;
|
|
||||||
gap: 1rem;
|
|
||||||
/*
|
|
||||||
grid-auto-flow: column;
|
|
||||||
grid-auto-columns: 1280px;
|
|
||||||
justify-content: start;
|
|
||||||
*/
|
|
||||||
grid-template-columns: repeat(auto-fit, minmax(1280px, 1fr));
|
|
||||||
align-items: start;
|
|
||||||
}
|
|
||||||
|
|
||||||
.panel {
|
|
||||||
background: #141b34;
|
|
||||||
border: 1px solid #242c4f;
|
|
||||||
border-radius: 12px;
|
|
||||||
padding: 1rem;
|
|
||||||
box-shadow: 0 10px 24px rgba(0,0,0,0.25);
|
|
||||||
}
|
|
||||||
|
|
||||||
.video-wrap {
|
|
||||||
position: relative;
|
|
||||||
background: #000;
|
|
||||||
border-radius: 8px;
|
|
||||||
overflow: hidden;
|
|
||||||
/* Keep a 16:9 box that doesn't stretch beyond the source resolution */
|
|
||||||
width: 100%;
|
|
||||||
max-width: 1280px;
|
|
||||||
aspect-ratio: 16 / 9;
|
|
||||||
margin: 0 auto;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Ensure canvas and overlay are sized identically and keep the same aspect ratio
|
|
||||||
so overlays align correctly when the window is resized. */
|
|
||||||
.video-wrap canvas,
|
|
||||||
.video-wrap img,
|
|
||||||
#overlayImg {
|
|
||||||
position: absolute;
|
|
||||||
inset: 0; /* top:0; right:0; bottom:0; left:0 */
|
|
||||||
width: 100%;
|
|
||||||
height: 100%;
|
|
||||||
/* Use `contain` so both layers scale uniformly and show letterboxing instead
|
|
||||||
of stretching or cropping when the container size differs from the image. */
|
|
||||||
object-fit: contain;
|
|
||||||
background: #000;
|
|
||||||
}
|
|
||||||
|
|
||||||
.video-wrap canvas {
|
|
||||||
z-index: 1;
|
|
||||||
}
|
|
||||||
.video-wrap img,
|
|
||||||
#overlayImg {
|
|
||||||
z-index: 2;
|
|
||||||
pointer-events: none; /* don't block interactions with the canvas */
|
|
||||||
opacity: var(--overlay-opacity);
|
|
||||||
}
|
|
||||||
|
|
||||||
.status {
|
|
||||||
font-size: 0.9rem;
|
|
||||||
opacity: 0.85;
|
|
||||||
margin: 0.5rem 0 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
.controls {
|
|
||||||
display: grid;
|
|
||||||
grid-template-columns: repeat(auto-fit, minmax(150px, 1fr));
|
|
||||||
gap: 0.5rem;
|
|
||||||
margin-top: 0.75rem;
|
|
||||||
}
|
|
||||||
|
|
||||||
.controls label {
|
|
||||||
display: grid;
|
|
||||||
gap: 0.25rem;
|
|
||||||
font-size: 0.9rem;
|
|
||||||
}
|
|
||||||
|
|
||||||
select, input, button {
|
|
||||||
padding: 0.5rem 0.6rem;
|
|
||||||
border-radius: 8px;
|
|
||||||
border: 1px solid #2d3766;
|
|
||||||
background: #0d1530;
|
|
||||||
color: #e7eaf6;
|
|
||||||
}
|
|
||||||
|
|
||||||
button.primary {
|
|
||||||
background: #355dff;
|
|
||||||
border-color: #355dff;
|
|
||||||
}
|
|
||||||
|
|
||||||
a {
|
|
||||||
color: #9eb8ff;
|
|
||||||
}
|
|
||||||
|
|
||||||
footer {
|
|
||||||
margin-top: 1.25rem;
|
|
||||||
opacity: 0.7;
|
|
||||||
font-size: 0.9rem;
|
|
||||||
}
|
|
||||||
|
|
||||||
.muted {
|
|
||||||
opacity: 0.8;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/* Ensure overlay uses contain and respects alpha channel from the PNG
|
|
||||||
(the PNG's transparency is the authoritative source of which pixels
|
|
||||||
are transparent; CSS opacity only adjusts global alpha). */
|
|
||||||
#overlayImg {
|
|
||||||
position: absolute;
|
|
||||||
inset: 0; /* shorthand for top:0; right:0; bottom:0; left:0; */
|
|
||||||
width: 100%;
|
|
||||||
height: 100%;
|
|
||||||
pointer-events: none;
|
|
||||||
opacity: var(--overlay-opacity);
|
|
||||||
object-fit: contain; /* preserve aspect ratio and don't distort */
|
|
||||||
background: transparent;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* CSV table styles */
|
|
||||||
.csv-table {
|
|
||||||
width: 440px; /* 4 columns * 200px each */
|
|
||||||
border-collapse: collapse;
|
|
||||||
margin-top: 0.5rem;
|
|
||||||
table-layout: fixed; /* use fixed layout so column widths are respected */
|
|
||||||
}
|
|
||||||
.csv-table th, .csv-table td {
|
|
||||||
border: 1px solid rgba(255,255,255,0.06);
|
|
||||||
padding: 0.35rem 0.5rem;
|
|
||||||
text-align: center;
|
|
||||||
font-size: 0.9rem;
|
|
||||||
width: 110px; /* fixed column width */
|
|
||||||
white-space: nowrap;
|
|
||||||
overflow: hidden;
|
|
||||||
text-overflow: ellipsis;
|
|
||||||
}
|
|
||||||
.csv-table th {
|
|
||||||
background: rgba(255,255,255,0.02);
|
|
||||||
font-weight: 600;
|
|
||||||
}
|
|
||||||
.csv-table tr:nth-child(even) td {
|
|
||||||
background: rgba(255,255,255,0.01);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Right-align CSV numeric data and use tabular digits for stable column alignment */
|
|
||||||
.csv-table td { text-align: right; font-variant-numeric: tabular-nums; }
|
|
||||||
|
|
||||||
#GCodeWindow {
|
|
||||||
width: 100%;
|
|
||||||
height: 200px;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Layout: place the buttons and GCode window side-by-side in their panel.
|
|
||||||
- `#divButtons` gets a fixed ~300px width
|
|
||||||
- `#divGCodeWindow` uses the remaining width
|
|
||||||
- On small screens they stack vertically for usability */
|
|
||||||
/* Use floats for a predictable two-column layout inside the panel. */
|
|
||||||
#divButtons {
|
|
||||||
float: left;
|
|
||||||
width: 300px;
|
|
||||||
box-sizing: border-box;
|
|
||||||
margin-right: 1rem;
|
|
||||||
}
|
|
||||||
#divGCodeWindow {
|
|
||||||
display: block;
|
|
||||||
margin-left: 320px; /* 300px left column + 1rem gap */
|
|
||||||
box-sizing: border-box;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Clear floats inside panels so subsequent content flows correctly */
|
|
||||||
.panel::after {
|
|
||||||
content: "";
|
|
||||||
display: table;
|
|
||||||
clear: both;
|
|
||||||
}
|
|
||||||
@media (max-width: 800px) {
|
|
||||||
#divButtons, #divGCodeWindow {
|
|
||||||
display: block;
|
|
||||||
float: none;
|
|
||||||
width: 100%;
|
|
||||||
margin-left: 0;
|
|
||||||
margin-right: 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
@@ -1,76 +0,0 @@
|
|||||||
// public/readCSV.js
|
|
||||||
// Fetch a CSV file and render a small table into the given container.
|
|
||||||
// Usage: window.readCSV.renderCSV(containerOrId, csvUrl)
|
|
||||||
|
|
||||||
(function () {
|
|
||||||
async function renderCSV(container, csvUrl) {
|
|
||||||
console.log("readCSV should start");
|
|
||||||
console.log('readCSV.renderCSV', container, csvUrl);
|
|
||||||
|
|
||||||
const el = (typeof container === 'string') ? document.getElementById(container) : container;
|
|
||||||
if (!el) return;
|
|
||||||
if (!csvUrl) {
|
|
||||||
el.innerHTML = '<em>No CSV URL provided</em>';
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
el.innerHTML = 'Loading CSV…';
|
|
||||||
try {
|
|
||||||
const res = await fetch(csvUrl, { cache: 'no-store' });
|
|
||||||
if (!res.ok) {
|
|
||||||
el.innerHTML = `<em>CSV not found (HTTP ${res.status})</em>`;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
const text = await res.text();
|
|
||||||
const lines = text.trim().split(/\r?\n/).filter(Boolean);
|
|
||||||
if (!lines.length) {
|
|
||||||
el.innerHTML = '<em>CSV is empty</em>';
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
const headers = lines[0].split(',').map(h => h.trim());
|
|
||||||
// Look for id,x,y,z columns (case-insensitive)
|
|
||||||
const lower = headers.map(h => h.toLowerCase());
|
|
||||||
const ids = {
|
|
||||||
id: lower.indexOf('id'),
|
|
||||||
x: lower.indexOf('x_mm'),
|
|
||||||
y: lower.indexOf('y_mm'),
|
|
||||||
z: lower.indexOf('z_mm')
|
|
||||||
};
|
|
||||||
// If any of these are missing, show a helpful message
|
|
||||||
if (ids.id === -1 || ids.x === -1 || ids.y === -1 || ids.z === -1) {
|
|
||||||
el.innerHTML = `<em>CSV does not contain required columns: id, x, y, z</em> ${csvUrl}`;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Build table
|
|
||||||
const table = document.createElement('table');
|
|
||||||
table.className = 'csv-table';
|
|
||||||
const thead = table.createTHead();
|
|
||||||
const thr = thead.insertRow();
|
|
||||||
['id', 'x [mm]', 'y [mm]', 'z [mm]'].forEach(h => {
|
|
||||||
const th = document.createElement('th');
|
|
||||||
th.textContent = h;
|
|
||||||
thr.appendChild(th);
|
|
||||||
});
|
|
||||||
const tbody = table.createTBody();
|
|
||||||
|
|
||||||
for (let i = 1; i < lines.length; i++) {
|
|
||||||
const row = lines[i].split(',').map(c => c.trim());
|
|
||||||
// Skip if row doesn't have enough columns
|
|
||||||
if (row.length < headers.length) continue;
|
|
||||||
const tr = tbody.insertRow();
|
|
||||||
['id', 'x', 'y', 'z'].forEach(k => {
|
|
||||||
const td = tr.insertCell();
|
|
||||||
td.textContent = row[ids[k]] ?? '';
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
el.innerHTML = ''; // clear
|
|
||||||
el.appendChild(table);
|
|
||||||
} catch (err) {
|
|
||||||
console.error('readCSV error', err);
|
|
||||||
el.innerHTML = `<em>Error loading CSV</em>`;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
window.readCSV = { renderCSV };
|
|
||||||
})();
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 93 KiB |
@@ -1,9 +0,0 @@
|
|||||||
id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
|
|
||||||
camera1,461.226,163.150,208.814,-115.601,2.852,108.987
|
|
||||||
camera2,368.003,-324.025,849.279,-147.633,-3.697,60.975
|
|
||||||
20,-27.787,-370.901,-104.452,-0.238,-4.375,143.811
|
|
||||||
25,-67.077,-165.677,-12.623,-2.256,0.110,87.366
|
|
||||||
50,0.002,-0.008,-0.007,-0.557,-0.254,0.228
|
|
||||||
71,140.418,0.009,0.093,0.905,-2.137,1.508
|
|
||||||
76,-204.436,-90.385,-94.522,-52.679,39.273,-87.214
|
|
||||||
101,0.016,-80.028,-0.025,1.056,-2.213,0.260
|
|
||||||
|
@@ -1,123 +0,0 @@
|
|||||||
{
|
|
||||||
"metadata": {
|
|
||||||
"timestamp": "2025-12-17 12:29:14",
|
|
||||||
"reference_markers": [
|
|
||||||
50,
|
|
||||||
71,
|
|
||||||
101
|
|
||||||
],
|
|
||||||
"dict": "DICT_4X4_250",
|
|
||||||
"marker_size_mm": 25.0,
|
|
||||||
"rms_refs_px_cam1": 0.01816248951344627,
|
|
||||||
"rms_refs_px_cam2": 0.49688754115479944,
|
|
||||||
"description": "Two-camera joint optimization with triangulation"
|
|
||||||
},
|
|
||||||
"cameras": [
|
|
||||||
{
|
|
||||||
"id": "camera1",
|
|
||||||
"position_mm": [
|
|
||||||
461.2260243096291,
|
|
||||||
163.15047116357306,
|
|
||||||
208.81423321244827
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -115.60069066047194,
|
|
||||||
"pitch": 2.8518474088280343,
|
|
||||||
"yaw": 108.98699397077662
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "camera2",
|
|
||||||
"position_mm": [
|
|
||||||
368.0032092105987,
|
|
||||||
-324.02483230064206,
|
|
||||||
849.2788823044326
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -147.6328488975886,
|
|
||||||
"pitch": -3.697144586874371,
|
|
||||||
"yaw": 60.97510432458154
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"markers": [
|
|
||||||
{
|
|
||||||
"id": 20,
|
|
||||||
"position_mm": [
|
|
||||||
-27.78722965547953,
|
|
||||||
-370.90144636184993,
|
|
||||||
-104.45169497289619
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -0.23809413256188228,
|
|
||||||
"pitch": -4.374834208590023,
|
|
||||||
"yaw": 143.81085305206332
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 25,
|
|
||||||
"position_mm": [
|
|
||||||
-67.07681274414062,
|
|
||||||
-165.6768341064453,
|
|
||||||
-12.623200416564941
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -2.2561967939168364,
|
|
||||||
"pitch": 0.10968211192904707,
|
|
||||||
"yaw": 87.36599578819637
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 50,
|
|
||||||
"position_mm": [
|
|
||||||
0.0022646484430879354,
|
|
||||||
-0.007531278766691685,
|
|
||||||
-0.006839004810899496
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -0.5572651387919108,
|
|
||||||
"pitch": -0.2540478856154707,
|
|
||||||
"yaw": 0.22792865561204573
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 71,
|
|
||||||
"position_mm": [
|
|
||||||
140.41845703125,
|
|
||||||
0.009271804243326187,
|
|
||||||
0.092652328312397
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": 0.9053221063108222,
|
|
||||||
"pitch": -2.1366085994661774,
|
|
||||||
"yaw": 1.5077277441713781
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 76,
|
|
||||||
"position_mm": [
|
|
||||||
-204.43634100254326,
|
|
||||||
-90.3850951365776,
|
|
||||||
-94.52184634518557
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": -52.67872835725091,
|
|
||||||
"pitch": 39.27299014262584,
|
|
||||||
"yaw": -87.21449748201128
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": 101,
|
|
||||||
"position_mm": [
|
|
||||||
0.01583130471408367,
|
|
||||||
-80.02842712402344,
|
|
||||||
-0.02530261129140854
|
|
||||||
],
|
|
||||||
"orientation_deg": {
|
|
||||||
"roll": 1.0558520137504372,
|
|
||||||
"pitch": -2.2130377151018776,
|
|
||||||
"yaw": 0.2601617066921372
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 176 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 16 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 81 KiB |
@@ -1,7 +0,0 @@
|
|||||||
id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
|
|
||||||
camera1,744.393,-11.882,212.666,-115.660,2.222,96.551
|
|
||||||
camera2,527.995,-443.448,881.443,-149.405,-0.614,30.363
|
|
||||||
25,146.987,-219.644,-14.453,-1.475,-0.713,75.762
|
|
||||||
50,-1.518,0.089,-0.276,-0.596,-1.297,0.062
|
|
||||||
71,139.840,0.042,-0.031,0.036,-1.975,-0.196
|
|
||||||
101,-2.288,-80.358,-0.673,0.487,-1.568,-0.808
|
|
||||||
|
@@ -1,97 +0,0 @@
|
|||||||
{
|
|
||||||
"metadata": {
|
|
||||||
"timestamp": "2025-12-17 12:40:45",
|
|
||||||
"reference_markers": [
|
|
||||||
50,
|
|
||||||
71,
|
|
||||||
101
|
|
||||||
],
|
|
||||||
"dict": "DICT_4X4_250",
|
|
||||||
"marker_size_mm": 25.0,
|
|
||||||
"rms_refs_px_cam1": 0.45907110184149624,
|
|
||||||
"rms_refs_px_cam2": 1.8220535514255254,
|
|
||||||
"description": "Two-camera joint optimization with triangulation"
|
|
||||||
},
|
|
||||||
"cameras": [
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Before Width: | Height: | Size: 184 KiB |
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Reference in New Issue
Block a user