diff --git a/py_workspace/aruco/depth_refine.py b/py_workspace/aruco/depth_refine.py new file mode 100644 index 0000000..02b8dab --- /dev/null +++ b/py_workspace/aruco/depth_refine.py @@ -0,0 +1,112 @@ +import numpy as np +from typing import Dict, Tuple, Optional +from scipy.optimize import minimize +from .pose_math import rvec_tvec_to_matrix, matrix_to_rvec_tvec +from .depth_verify import compute_depth_residual + + +def extrinsics_to_params(T: np.ndarray) -> np.ndarray: + rvec, tvec = matrix_to_rvec_tvec(T) + return np.concatenate([rvec, tvec]) + + +def params_to_extrinsics(params: np.ndarray) -> np.ndarray: + rvec = params[:3] + tvec = params[3:] + return rvec_tvec_to_matrix(rvec, tvec) + + +def depth_residual_objective( + params: np.ndarray, + marker_corners_world: Dict[int, np.ndarray], + depth_map: np.ndarray, + K: np.ndarray, + initial_params: np.ndarray, + regularization_weight: float = 0.1, +) -> float: + T = params_to_extrinsics(params) + residuals = [] + + for marker_id, corners in marker_corners_world.items(): + for corner in corners: + residual = compute_depth_residual(corner, T, depth_map, K, window_size=5) + if residual is not None: + residuals.append(residual) + + if len(residuals) == 0: + return 1e6 + + residuals_array = np.array(residuals) + data_term = np.mean(residuals_array**2) + + param_diff = params - initial_params + rotation_diff = np.linalg.norm(param_diff[:3]) + translation_diff = np.linalg.norm(param_diff[3:]) + regularization = regularization_weight * (rotation_diff + translation_diff) + + return data_term + regularization + + +def refine_extrinsics_with_depth( + T_initial: np.ndarray, + marker_corners_world: Dict[int, np.ndarray], + depth_map: np.ndarray, + K: np.ndarray, + max_translation_m: float = 0.05, + max_rotation_deg: float = 5.0, + regularization_weight: float = 0.1, +) -> Tuple[np.ndarray, dict]: + initial_params = extrinsics_to_params(T_initial) + + max_rotation_rad = np.deg2rad(max_rotation_deg) + + bounds = [ + (initial_params[0] - max_rotation_rad, initial_params[0] + max_rotation_rad), + (initial_params[1] - max_rotation_rad, initial_params[1] + max_rotation_rad), + (initial_params[2] - max_rotation_rad, initial_params[2] + max_rotation_rad), + (initial_params[3] - max_translation_m, initial_params[3] + max_translation_m), + (initial_params[4] - max_translation_m, initial_params[4] + max_translation_m), + (initial_params[5] - max_translation_m, initial_params[5] + max_translation_m), + ] + + result = minimize( + depth_residual_objective, + initial_params, + args=( + marker_corners_world, + depth_map, + K, + initial_params, + regularization_weight, + ), + method="L-BFGS-B", + bounds=bounds, + options={"maxiter": 100, "disp": False}, + ) + + T_refined = params_to_extrinsics(result.x) + + delta_params = result.x - initial_params + delta_rotation_rad = np.linalg.norm(delta_params[:3]) + delta_rotation_deg = np.rad2deg(delta_rotation_rad) + delta_translation = np.linalg.norm(delta_params[3:]) + + initial_cost = depth_residual_objective( + initial_params, + marker_corners_world, + depth_map, + K, + initial_params, + regularization_weight, + ) + + stats = { + "iterations": result.nit, + "success": result.success, + "initial_cost": float(initial_cost), + "final_cost": float(result.fun), + "delta_rotation_deg": float(delta_rotation_deg), + "delta_translation_norm_m": float(delta_translation), + } + + return T_refined, stats diff --git a/py_workspace/pyproject.toml b/py_workspace/pyproject.toml index c896353..c6e83e6 100644 --- a/py_workspace/pyproject.toml +++ b/py_workspace/pyproject.toml @@ -19,6 +19,7 @@ dependencies = [ "jaxtyping>=0.3.7", "pyarrow>=23.0.0", "pandas>=3.0.0", + "scipy>=1.17.0", ] [tool.uv.sources] diff --git a/py_workspace/uv.lock b/py_workspace/uv.lock index 3b1d116..149e2bd 100644 --- a/py_workspace/uv.lock +++ b/py_workspace/uv.lock @@ -490,6 +490,7 @@ dependencies = [ { name = "pyopengl" }, { name = "pyopengl-accelerate" }, { name = "pyzed" }, + { name = "scipy" }, ] [package.dev-dependencies] @@ -513,6 +514,7 @@ requires-dist = [ { name = "pyopengl", specifier = ">=3.1.10" }, { name = "pyopengl-accelerate", specifier = ">=3.1.10" }, { name = "pyzed", directory = "libs/pyzed_pkg" }, + { name = "scipy", specifier = ">=1.17.0" }, ] [package.metadata.requires-dev] @@ -1767,6 +1769,67 @@ wheels = [ { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/d0/02/fa464cdfbe6b26e0600b62c528b72d8608f5cc49f96b8d6e38c95d60c676/rpds_py-0.30.0-cp314-cp314t-win_amd64.whl", hash = "sha256:27f4b0e92de5bfbc6f86e43959e6edd1425c33b5e69aab0984a72047f2bcf1e3", size = 226532, upload-time = "2025-11-30T20:24:14.634Z" }, ] +[[package]] +name = "scipy" +version = "1.17.0" +source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" } +dependencies = [ + { name = "numpy" }, +] +sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/56/3e/9cca699f3486ce6bc12ff46dc2031f1ec8eb9ccc9a320fdaf925f1417426/scipy-1.17.0.tar.gz", hash = "sha256:2591060c8e648d8b96439e111ac41fd8342fdeff1876be2e19dea3fe8930454e", size = 30396830, upload-time = "2026-01-10T21:34:23.009Z" } +wheels = [ + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/0b/11/7241a63e73ba5a516f1930ac8d5b44cbbfabd35ac73a2d08ca206df007c4/scipy-1.17.0-cp312-cp312-macosx_10_14_x86_64.whl", hash = "sha256:0d5018a57c24cb1dd828bcf51d7b10e65986d549f52ef5adb6b4d1ded3e32a57", size = 31364580, upload-time = "2026-01-10T21:25:25.717Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/ed/1d/5057f812d4f6adc91a20a2d6f2ebcdb517fdbc87ae3acc5633c9b97c8ba5/scipy-1.17.0-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:88c22af9e5d5a4f9e027e26772cc7b5922fab8bcc839edb3ae33de404feebd9e", size = 27969012, upload-time = "2026-01-10T21:25:30.921Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/e3/21/f6ec556c1e3b6ec4e088da667d9987bb77cc3ab3026511f427dc8451187d/scipy-1.17.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:f3cd947f20fe17013d401b64e857c6b2da83cae567adbb75b9dcba865abc66d8", size = 20140691, upload-time = "2026-01-10T21:25:34.802Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/7a/fe/5e5ad04784964ba964a96f16c8d4676aa1b51357199014dce58ab7ec5670/scipy-1.17.0-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:e8c0b331c2c1f531eb51f1b4fc9ba709521a712cce58f1aa627bc007421a5306", size = 22463015, upload-time = "2026-01-10T21:25:39.277Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/4a/69/7c347e857224fcaf32a34a05183b9d8a7aca25f8f2d10b8a698b8388561a/scipy-1.17.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:5194c445d0a1c7a6c1a4a4681b6b7c71baad98ff66d96b949097e7513c9d6742", size = 32724197, upload-time = "2026-01-10T21:25:44.084Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/d1/fe/66d73b76d378ba8cc2fe605920c0c75092e3a65ae746e1e767d9d020a75a/scipy-1.17.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9eeb9b5f5997f75507814ed9d298ab23f62cf79f5a3ef90031b1ee2506abdb5b", size = 35009148, upload-time = "2026-01-10T21:25:50.591Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/af/07/07dec27d9dc41c18d8c43c69e9e413431d20c53a0339c388bcf72f353c4b/scipy-1.17.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:40052543f7bbe921df4408f46003d6f01c6af109b9e2c8a66dd1cf6cf57f7d5d", size = 34798766, upload-time = "2026-01-10T21:25:59.41Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/81/61/0470810c8a093cdacd4ba7504b8a218fd49ca070d79eca23a615f5d9a0b0/scipy-1.17.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:0cf46c8013fec9d3694dc572f0b54100c28405d55d3e2cb15e2895b25057996e", size = 37405953, upload-time = "2026-01-10T21:26:07.75Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/92/ce/672ed546f96d5d41ae78c4b9b02006cedd0b3d6f2bf5bb76ea455c320c28/scipy-1.17.0-cp312-cp312-win_amd64.whl", hash = "sha256:0937a0b0d8d593a198cededd4c439a0ea216a3f36653901ea1f3e4be949056f8", size = 36328121, upload-time = "2026-01-10T21:26:16.509Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/9d/21/38165845392cae67b61843a52c6455d47d0cc2a40dd495c89f4362944654/scipy-1.17.0-cp312-cp312-win_arm64.whl", hash = "sha256:f603d8a5518c7426414d1d8f82e253e454471de682ce5e39c29adb0df1efb86b", size = 24314368, upload-time = "2026-01-10T21:26:23.087Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/0c/51/3468fdfd49387ddefee1636f5cf6d03ce603b75205bf439bbf0e62069bfd/scipy-1.17.0-cp313-cp313-macosx_10_14_x86_64.whl", hash = "sha256:65ec32f3d32dfc48c72df4291345dae4f048749bc8d5203ee0a3f347f96c5ce6", size = 31344101, upload-time = "2026-01-10T21:26:30.25Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/b2/9a/9406aec58268d437636069419e6977af953d1e246df941d42d3720b7277b/scipy-1.17.0-cp313-cp313-macosx_12_0_arm64.whl", hash = "sha256:1f9586a58039d7229ce77b52f8472c972448cded5736eaf102d5658bbac4c269", size = 27950385, upload-time = "2026-01-10T21:26:36.801Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/4f/98/e7342709e17afdfd1b26b56ae499ef4939b45a23a00e471dfb5375eea205/scipy-1.17.0-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:9fad7d3578c877d606b1150135c2639e9de9cecd3705caa37b66862977cc3e72", size = 20122115, upload-time = "2026-01-10T21:26:42.107Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/fd/0e/9eeeb5357a64fd157cbe0302c213517c541cc16b8486d82de251f3c68ede/scipy-1.17.0-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:423ca1f6584fc03936972b5f7c06961670dbba9f234e71676a7c7ccf938a0d61", size = 22442402, upload-time = "2026-01-10T21:26:48.029Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/c9/10/be13397a0e434f98e0c79552b2b584ae5bb1c8b2be95db421533bbca5369/scipy-1.17.0-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:fe508b5690e9eaaa9467fc047f833af58f1152ae51a0d0aed67aa5801f4dd7d6", size = 32696338, upload-time = "2026-01-10T21:26:55.521Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/63/1e/12fbf2a3bb240161651c94bb5cdd0eae5d4e8cc6eaeceb74ab07b12a753d/scipy-1.17.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:6680f2dfd4f6182e7d6db161344537da644d1cf85cf293f015c60a17ecf08752", size = 34977201, upload-time = "2026-01-10T21:27:03.501Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/19/5b/1a63923e23ccd20bd32156d7dd708af5bbde410daa993aa2500c847ab2d2/scipy-1.17.0-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:eec3842ec9ac9de5917899b277428886042a93db0b227ebbe3a333b64ec7643d", size = 34777384, upload-time = "2026-01-10T21:27:11.423Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/39/22/b5da95d74edcf81e540e467202a988c50fef41bd2011f46e05f72ba07df6/scipy-1.17.0-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:d7425fcafbc09a03731e1bc05581f5fad988e48c6a861f441b7ab729a49a55ea", size = 37379586, upload-time = "2026-01-10T21:27:20.171Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/b9/b6/8ac583d6da79e7b9e520579f03007cb006f063642afd6b2eeb16b890bf93/scipy-1.17.0-cp313-cp313-win_amd64.whl", hash = "sha256:87b411e42b425b84777718cc41516b8a7e0795abfa8e8e1d573bf0ef014f0812", size = 36287211, upload-time = "2026-01-10T21:28:43.122Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/55/fb/7db19e0b3e52f882b420417644ec81dd57eeef1bd1705b6f689d8ff93541/scipy-1.17.0-cp313-cp313-win_arm64.whl", hash = "sha256:357ca001c6e37601066092e7c89cca2f1ce74e2a520ca78d063a6d2201101df2", size = 24312646, upload-time = "2026-01-10T21:28:49.893Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/20/b6/7feaa252c21cc7aff335c6c55e1b90ab3e3306da3f048109b8b639b94648/scipy-1.17.0-cp313-cp313t-macosx_10_14_x86_64.whl", hash = "sha256:ec0827aa4d36cb79ff1b81de898e948a51ac0b9b1c43e4a372c0508c38c0f9a3", size = 31693194, upload-time = "2026-01-10T21:27:27.454Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/76/bb/bbb392005abce039fb7e672cb78ac7d158700e826b0515cab6b5b60c26fb/scipy-1.17.0-cp313-cp313t-macosx_12_0_arm64.whl", hash = "sha256:819fc26862b4b3c73a60d486dbb919202f3d6d98c87cf20c223511429f2d1a97", size = 28365415, upload-time = "2026-01-10T21:27:34.26Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/37/da/9d33196ecc99fba16a409c691ed464a3a283ac454a34a13a3a57c0d66f3a/scipy-1.17.0-cp313-cp313t-macosx_14_0_arm64.whl", hash = "sha256:363ad4ae2853d88ebcde3ae6ec46ccca903ea9835ee8ba543f12f575e7b07e4e", size = 20537232, upload-time = "2026-01-10T21:27:40.306Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/56/9d/f4b184f6ddb28e9a5caea36a6f98e8ecd2a524f9127354087ce780885d83/scipy-1.17.0-cp313-cp313t-macosx_14_0_x86_64.whl", hash = "sha256:979c3a0ff8e5ba254d45d59ebd38cde48fce4f10b5125c680c7a4bfe177aab07", size = 22791051, upload-time = "2026-01-10T21:27:46.539Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/9b/9d/025cccdd738a72140efc582b1641d0dd4caf2e86c3fb127568dc80444e6e/scipy-1.17.0-cp313-cp313t-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:130d12926ae34399d157de777472bf82e9061c60cc081372b3118edacafe1d00", size = 32815098, upload-time = "2026-01-10T21:27:54.389Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/48/5f/09b879619f8bca15ce392bfc1894bd9c54377e01d1b3f2f3b595a1b4d945/scipy-1.17.0-cp313-cp313t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:6e886000eb4919eae3a44f035e63f0fd8b651234117e8f6f29bad1cd26e7bc45", size = 35031342, upload-time = "2026-01-10T21:28:03.012Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/f2/9a/f0f0a9f0aa079d2f106555b984ff0fbb11a837df280f04f71f056ea9c6e4/scipy-1.17.0-cp313-cp313t-musllinux_1_2_aarch64.whl", hash = "sha256:13c4096ac6bc31d706018f06a49abe0485f96499deb82066b94d19b02f664209", size = 34893199, upload-time = "2026-01-10T21:28:10.832Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/90/b8/4f0f5cf0c5ea4d7548424e6533e6b17d164f34a6e2fb2e43ffebb6697b06/scipy-1.17.0-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:cacbaddd91fcffde703934897c5cd2c7cb0371fac195d383f4e1f1c5d3f3bd04", size = 37438061, upload-time = "2026-01-10T21:28:19.684Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/f9/cc/2bd59140ed3b2fa2882fb15da0a9cb1b5a6443d67cfd0d98d4cec83a57ec/scipy-1.17.0-cp313-cp313t-win_amd64.whl", hash = "sha256:edce1a1cf66298cccdc48a1bdf8fb10a3bf58e8b58d6c3883dd1530e103f87c0", size = 36328593, upload-time = "2026-01-10T21:28:28.007Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/13/1b/c87cc44a0d2c7aaf0f003aef2904c3d097b422a96c7e7c07f5efd9073c1b/scipy-1.17.0-cp313-cp313t-win_arm64.whl", hash = "sha256:30509da9dbec1c2ed8f168b8d8aa853bc6723fede1dbc23c7d43a56f5ab72a67", size = 24625083, upload-time = "2026-01-10T21:28:35.188Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/1a/2d/51006cd369b8e7879e1c630999a19d1fbf6f8b5ed3e33374f29dc87e53b3/scipy-1.17.0-cp314-cp314-macosx_10_14_x86_64.whl", hash = "sha256:c17514d11b78be8f7e6331b983a65a7f5ca1fd037b95e27b280921fe5606286a", size = 31346803, upload-time = "2026-01-10T21:28:57.24Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/d6/2e/2349458c3ce445f53a6c93d4386b1c4c5c0c540917304c01222ff95ff317/scipy-1.17.0-cp314-cp314-macosx_12_0_arm64.whl", hash = "sha256:4e00562e519c09da34c31685f6acc3aa384d4d50604db0f245c14e1b4488bfa2", size = 27967182, upload-time = "2026-01-10T21:29:04.107Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/5e/7c/df525fbfa77b878d1cfe625249529514dc02f4fd5f45f0f6295676a76528/scipy-1.17.0-cp314-cp314-macosx_14_0_arm64.whl", hash = "sha256:f7df7941d71314e60a481e02d5ebcb3f0185b8d799c70d03d8258f6c80f3d467", size = 20139125, upload-time = "2026-01-10T21:29:10.179Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/33/11/fcf9d43a7ed1234d31765ec643b0515a85a30b58eddccc5d5a4d12b5f194/scipy-1.17.0-cp314-cp314-macosx_14_0_x86_64.whl", hash = "sha256:aabf057c632798832f071a8dde013c2e26284043934f53b00489f1773b33527e", size = 22443554, upload-time = "2026-01-10T21:29:15.888Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/80/5c/ea5d239cda2dd3d31399424967a24d556cf409fbea7b5b21412b0fd0a44f/scipy-1.17.0-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a38c3337e00be6fd8a95b4ed66b5d988bac4ec888fd922c2ea9fe5fb1603dd67", size = 32757834, upload-time = "2026-01-10T21:29:23.406Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/b8/7e/8c917cc573310e5dc91cbeead76f1b600d3fb17cf0969db02c9cf92e3cfa/scipy-1.17.0-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:00fb5f8ec8398ad90215008d8b6009c9db9fa924fd4c7d6be307c6f945f9cd73", size = 34995775, upload-time = "2026-01-10T21:29:31.915Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/c5/43/176c0c3c07b3f7df324e7cdd933d3e2c4898ca202b090bd5ba122f9fe270/scipy-1.17.0-cp314-cp314-musllinux_1_2_aarch64.whl", hash = "sha256:f2a4942b0f5f7c23c7cd641a0ca1955e2ae83dedcff537e3a0259096635e186b", size = 34841240, upload-time = "2026-01-10T21:29:39.995Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/44/8c/d1f5f4b491160592e7f084d997de53a8e896a3ac01cd07e59f43ca222744/scipy-1.17.0-cp314-cp314-musllinux_1_2_x86_64.whl", hash = "sha256:dbf133ced83889583156566d2bdf7a07ff89228fe0c0cb727f777de92092ec6b", size = 37394463, upload-time = "2026-01-10T21:29:48.723Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/9f/ec/42a6657f8d2d087e750e9a5dde0b481fd135657f09eaf1cf5688bb23c338/scipy-1.17.0-cp314-cp314-win_amd64.whl", hash = "sha256:3625c631a7acd7cfd929e4e31d2582cf00f42fcf06011f59281271746d77e061", size = 37053015, upload-time = "2026-01-10T21:30:51.418Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/27/58/6b89a6afd132787d89a362d443a7bddd511b8f41336a1ae47f9e4f000dc4/scipy-1.17.0-cp314-cp314-win_arm64.whl", hash = "sha256:9244608d27eafe02b20558523ba57f15c689357c85bdcfe920b1828750aa26eb", size = 24951312, upload-time = "2026-01-10T21:30:56.771Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/e9/01/f58916b9d9ae0112b86d7c3b10b9e685625ce6e8248df139d0fcb17f7397/scipy-1.17.0-cp314-cp314t-macosx_10_14_x86_64.whl", hash = "sha256:2b531f57e09c946f56ad0b4a3b2abee778789097871fc541e267d2eca081cff1", size = 31706502, upload-time = "2026-01-10T21:29:56.326Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/59/8e/2912a87f94a7d1f8b38aabc0faf74b82d3b6c9e22be991c49979f0eceed8/scipy-1.17.0-cp314-cp314t-macosx_12_0_arm64.whl", hash = "sha256:13e861634a2c480bd237deb69333ac79ea1941b94568d4b0efa5db5e263d4fd1", size = 28380854, upload-time = "2026-01-10T21:30:01.554Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/bd/1c/874137a52dddab7d5d595c1887089a2125d27d0601fce8c0026a24a92a0b/scipy-1.17.0-cp314-cp314t-macosx_14_0_arm64.whl", hash = "sha256:eb2651271135154aa24f6481cbae5cc8af1f0dd46e6533fb7b56aa9727b6a232", size = 20552752, upload-time = "2026-01-10T21:30:05.93Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/3f/f0/7518d171cb735f6400f4576cf70f756d5b419a07fe1867da34e2c2c9c11b/scipy-1.17.0-cp314-cp314t-macosx_14_0_x86_64.whl", hash = "sha256:c5e8647f60679790c2f5c76be17e2e9247dc6b98ad0d3b065861e082c56e078d", size = 22803972, upload-time = "2026-01-10T21:30:10.651Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/7c/74/3498563a2c619e8a3ebb4d75457486c249b19b5b04a30600dfd9af06bea5/scipy-1.17.0-cp314-cp314t-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:5fb10d17e649e1446410895639f3385fd2bf4c3c7dfc9bea937bddcbc3d7b9ba", size = 32829770, upload-time = "2026-01-10T21:30:16.359Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/48/d1/7b50cedd8c6c9d6f706b4b36fa8544d829c712a75e370f763b318e9638c1/scipy-1.17.0-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:8547e7c57f932e7354a2319fab613981cde910631979f74c9b542bb167a8b9db", size = 35051093, upload-time = "2026-01-10T21:30:22.987Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/e2/82/a2d684dfddb87ba1b3ea325df7c3293496ee9accb3a19abe9429bce94755/scipy-1.17.0-cp314-cp314t-musllinux_1_2_aarch64.whl", hash = "sha256:33af70d040e8af9d5e7a38b5ed3b772adddd281e3062ff23fec49e49681c38cf", size = 34909905, upload-time = "2026-01-10T21:30:28.704Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/ef/5e/e565bd73991d42023eb82bb99e51c5b3d9e2c588ca9d4b3e2cc1d3ca62a6/scipy-1.17.0-cp314-cp314t-musllinux_1_2_x86_64.whl", hash = "sha256:f9eb55bb97d00f8b7ab95cb64f873eb0bf54d9446264d9f3609130381233483f", size = 37457743, upload-time = "2026-01-10T21:30:34.819Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/58/a8/a66a75c3d8f1fb2b83f66007d6455a06a6f6cf5618c3dc35bc9b69dd096e/scipy-1.17.0-cp314-cp314t-win_amd64.whl", hash = "sha256:1ff269abf702f6c7e67a4b7aad981d42871a11b9dd83c58d2d2ea624efbd1088", size = 37098574, upload-time = "2026-01-10T21:30:40.782Z" }, + { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/56/a5/df8f46ef7da168f1bc52cd86e09a9de5c6f19cc1da04454d51b7d4f43408/scipy-1.17.0-cp314-cp314t-win_arm64.whl", hash = "sha256:031121914e295d9791319a1875444d55079885bbae5bdc9c5e0f2ee5f09d34ff", size = 25246266, upload-time = "2026-01-10T21:30:45.923Z" }, +] + [[package]] name = "send2trash" version = "2.1.0"