HQU-gxy/ChArUcoBoardExp
7
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

good

Browse Source
This commit is contained in:
crosstyan
2024-12-18 12:01:00 +08:00
parent ba5cf29e49
commit bfac2c3b60
1 changed files with 67 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

91
boom.ipynb
View File

@ -2,7 +2,7 @@
"cells": [ "cells": [
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 129, "execution_count": 142,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -118,7 +118,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 130, "execution_count": 143,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -155,7 +155,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 131, "execution_count": 144,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -284,7 +284,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 132, "execution_count": 145,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -314,17 +314,9 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 134, "execution_count": 146,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[[0.2005 0.20049998 0. ]\n",
" [0.2005 0.20049998 0.1 ]]\n"
]
},
{ {
"data": { "data": {
"application/vnd.plotly.v1+json": { "application/vnd.plotly.v1+json": {
@ -344,6 +336,7 @@
"2", "2",
"3" "3"
], ],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.15199999511241913, 0.15199999511241913,
@ -376,6 +369,7 @@
"2", "2",
"3" "3"
], ],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.02500000037252903, 0.02500000037252903,
@ -408,6 +402,7 @@
"2", "2",
"3" "3"
], ],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.27900001406669617, 0.27900001406669617,
@ -440,6 +435,7 @@
"2", "2",
"3" "3"
], ],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.15199999511241913, 0.15199999511241913,
@ -486,7 +482,13 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "20", "name": "20",
"text": "20", "text": [
"0",
"1",
"2",
"3"
],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.15199999511241913, 0.15199999511241913,
@ -513,7 +515,13 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "21", "name": "21",
"text": "21", "text": [
"0",
"1",
"2",
"3"
],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.025000000372529047, 0.025000000372529047,
@ -540,7 +548,13 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "22", "name": "22",
"text": "22", "text": [
"0",
"1",
"2",
"3"
],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.27900001406669617, 0.27900001406669617,
@ -567,7 +581,13 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "23", "name": "23",
"text": "23", "text": [
"0",
"1",
"2",
"3"
],
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
0.15199999511241916, 0.15199999511241916,
@ -614,7 +634,12 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "24", "name": "24",
"text": "24", "text": [
"0",
"1",
"2",
"3"
],
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
1.5308085217450162e-18, 1.5308085217450162e-18,
@ -641,7 +666,12 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "25", "name": "25",
"text": "25", "text": [
"0",
"1",
"2",
"3"
],
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
9.30731537424187e-18, 9.30731537424187e-18,
@ -668,7 +698,12 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "26", "name": "26",
"text": "26", "text": [
"0",
"1",
"2",
"3"
],
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
9.307315374241872e-18, 9.307315374241872e-18,
@ -695,7 +730,12 @@
}, },
"mode": "markers+lines+text", "mode": "markers+lines+text",
"name": "27", "name": "27",
"text": "27", "text": [
"0",
"1",
"2",
"3"
],
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
1.7083823709442298e-17, 1.7083823709442298e-17,
@ -722,6 +762,7 @@
}, },
"mode": "markers+lines", "mode": "markers+lines",
"name": "normal_c", "name": "normal_c",
"textposition": "middle center",
"type": "scatter3d", "type": "scatter3d",
"x": [ "x": [
1.2277083037334799e-17, 1.2277083037334799e-17,
@ -1593,12 +1634,12 @@
" z=corners[:, 2],\n", " z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n", " mode=\"markers+lines+text\",\n",
" text=list(range(4)),\n", " text=list(range(4)),\n",
" textposition=\"middle center\",\n",
" name=str(plane_a.ids[i]),\n", " name=str(plane_a.ids[i]),\n",
" marker=dict(size=1),\n", " marker=dict(size=1),\n",
" )\n", " )\n",
" )\n", " )\n",
"\n", "\n",
"print(plane_a.transformed_normal_vector)\n",
"# normal vector\n", "# normal vector\n",
"fig.add_trace(\n", "fig.add_trace(\n",
" go.Scatter3d(\n", " go.Scatter3d(\n",
@ -1619,7 +1660,8 @@
" y=corners[:, 1],\n", " y=corners[:, 1],\n",
" z=corners[:, 2],\n", " z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n", " mode=\"markers+lines+text\",\n",
" text=str(plane_b.ids[i]),\n", " text=list(range(4)),\n",
" textposition=\"middle center\",\n",
" name=str(plane_b.ids[i]),\n", " name=str(plane_b.ids[i]),\n",
" marker=dict(size=1),\n", " marker=dict(size=1),\n",
" )\n", " )\n",
@ -1643,7 +1685,7 @@
" y=corners[:, 1],\n", " y=corners[:, 1],\n",
" z=corners[:, 2],\n", " z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n", " mode=\"markers+lines+text\",\n",
" text=str(plane_c.ids[i]),\n", " text=list(range(4)),\n",
" name=str(plane_c.ids[i]),\n", " name=str(plane_c.ids[i]),\n",
" marker=dict(size=1),\n", " marker=dict(size=1),\n",
" )\n", " )\n",
@ -1654,6 +1696,7 @@
" y=plane_c.transformed_normal_vector[:, 1],\n", " y=plane_c.transformed_normal_vector[:, 1],\n",
" z=plane_c.transformed_normal_vector[:, 2],\n", " z=plane_c.transformed_normal_vector[:, 2],\n",
" mode=\"markers+lines\",\n", " mode=\"markers+lines\",\n",
" textposition=\"middle center\",\n",
" name=\"normal_c\",\n", " name=\"normal_c\",\n",
" marker=dict(size=2),\n", " marker=dict(size=2),\n",
" )\n", " )\n",