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feat: add fusion pose updater and improve pose comparison workflow

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crosstyan
2026-02-09 03:26:50 +00:00
parent c497af7783
commit 77a93b71f2
4 changed files with 266 additions and 13 deletions
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zed_settings/inside_shared_manual.json
+90
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{
"41831756": {
"FusionConfiguration": {
"communication_parameters": {
"CommunicationParameters": {
"communication_type": "INTRA PROCESS",
"ip_add": "",
"ip_port": 0
}
},
"input_type": {
"InputType": {
"input_type_conf": "41831756",
"input_type_conf_right": "0",
"input_type_input": "AUTO",
"input_virtual_serial_number": 0
}
},
"override_gravity": false,
"pose": "-0.920142 -0.007144 -0.391519 2.737071 0.020828 -0.999311 -0.030716 0.998234 -0.391030 -0.036418 0.919657 -4.506511 0.000000 0.000000 0.000000 1.000000",
"serial_number": 41831756
}
},
"44289123": {
"FusionConfiguration": {
"communication_parameters": {
"CommunicationParameters": {
"communication_type": "INTRA PROCESS",
"ip_add": "",
"ip_port": 0
}
},
"input_type": {
"InputType": {
"input_type_conf": "44289123",
"input_type_conf_right": "0",
"input_type_input": "AUTO",
"input_virtual_serial_number": 0
}
},
"override_gravity": false,
"pose": "-0.605210 -0.049218 -0.794543 4.775046 -0.000054 -0.998084 0.061868 1.091021 -0.796066 0.037486 0.604048 -3.432319 0.000000 0.000000 0.000000 1.000000",
"serial_number": 44289123
}
},
"44435674": {
"FusionConfiguration": {
"communication_parameters": {
"CommunicationParameters": {
"communication_type": "INTRA PROCESS",
"ip_add": "",
"ip_port": 0
}
},
"input_type": {
"InputType": {
"input_type_conf": "44435674",
"input_type_conf_right": "0",
"input_type_input": "AUTO",
"input_virtual_serial_number": 0
}
},
"override_gravity": false,
"pose": "0.644946 -0.017302 0.764033 -1.445382 0.003236 -0.999673 -0.025370 1.093303 0.764222 0.018835 -0.644679 2.324294 0.000000 0.000000 0.000000 1.000000",
"serial_number": 44435674
}
},
"46195029": {
"FusionConfiguration": {
"communication_parameters": {
"CommunicationParameters": {
"communication_type": "INTRA PROCESS",
"ip_add": "",
"ip_port": 0
}
},
"input_type": {
"InputType": {
"input_type_conf": "46195029",
"input_type_conf_right": "0",
"input_type_input": "AUTO",
"input_virtual_serial_number": 0
}
},
"override_gravity": false,
"pose": "0.590968 0.031646 -0.806074 4.336595 0.012877 -0.999473 -0.029798 1.141728 -0.806592 0.007230 -0.591065 2.475000 0.000000 0.000000 0.000000 1.000000",
"serial_number": 46195029
}
}
}